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+05/10 14:05:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 14:05:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 14:05:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 14:05:53 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78f727fcd250>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
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+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20102,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 14:05:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 14:05:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 14:05:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 14:05:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 14:05:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 14:05:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 14:05:53 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7dd88b4c1650>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20101,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 14:05:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 14:05:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 14:05:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 14:05:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 14:05:53 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 14:05:53 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 14:05:53 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 14:05:53 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 14:05:53 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x792d83e5f690>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20104,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 14:05:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 14:05:53 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 14:05:53 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 14:05:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 14:05:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 14:05:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 14:05:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 14:05:54 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x72a817450a50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20103,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 14:05:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 14:05:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 14:05:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 14:05:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 14:05:56 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 14:05:56 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 14:05:56 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 14:05:56 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 14:05:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:05:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:05:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:05:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:05:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:05:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011514m	[env.py: 870]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:05:56 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:56 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 14:05:56 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07567045  1.09650577 -0.01151361] yaw=-138.9deg	[env.py: 1019]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04602455  1.19521146 -0.01151361] yaw=-138.6deg	[env.py: 1019]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:05:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.9ms, retries=177.7ms, total=192.7ms	[env.py: 1075]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.097, -0.012)	[env.py: 1079]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.9 deg	[env.py: 1082]
+05/10 14:05:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:05:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:05:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 14:05:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 14:05:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 14:05:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 14:05:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:05:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:05:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:05:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021447m	[env.py: 870]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:05:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13020049  0.93740108  0.02144654] yaw=-148.5deg	[env.py: 1019]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85542991  0.66821467  0.02144654] yaw=-171.8deg	[env.py: 1019]
+05/10 14:05:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 14:05:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:05:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:05:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:05:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048169m	[env.py: 870]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:05:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 14:05:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 14:05:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63845505  0.48750587  0.02144654] yaw=-189.1deg	[env.py: 1019]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=25.9ms, retries=135.4ms, total=161.3ms	[env.py: 1075]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.130, 0.937, 0.021)	[env.py: 1079]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg	[env.py: 1082]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.731m	[env.py: 1086]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:05:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:05:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69125629  0.08027645 -0.04816931] yaw=161.2deg	[env.py: 1019]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:05:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 14:05:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 14:05:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:05:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:05:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047403m	[env.py: 870]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:05:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83807354  0.40816477 -0.04816931] yaw=180.3deg	[env.py: 1019]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94443861  0.29547828 -0.04816931] yaw=166.2deg	[env.py: 1019]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=36.3ms, retries=256.7ms, total=293.0ms	[env.py: 1075]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.080, -0.048)	[env.py: 1079]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg	[env.py: 1082]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.722247    0.63381804 -0.04740266] yaw=-165.9deg	[env.py: 1019]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93355378  0.34263279 -0.04740266] yaw=167.9deg	[env.py: 1019]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=24.1ms, retries=353.7ms, total=377.8ms	[env.py: 1075]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.634, -0.047)	[env.py: 1079]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg	[env.py: 1082]
+05/10 14:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:05:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:05:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:05:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:05:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:05:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:05:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 26.633s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:06:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:06:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 27.691s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:06:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:06:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 27.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:06:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:06:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:06:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:06:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 80.513[deg]	[grasp_sample.py: 539]
+05/10 14:06:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:06:25 INFO: [Worker 0] Warmed up parallel IK solver in 28.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:06:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:06:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:06:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:06:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:06:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:06:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:06:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.297[m] 87.891[deg]	[grasp_sample.py: 539]
+05/10 14:06:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:06:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:06:26 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.473[m] 88.425[deg]	[grasp_sample.py: 539]
+05/10 14:06:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:06:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:06:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:06:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:06:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:06:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.199s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:06:28 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.661[m] 83.886[deg]	[grasp_sample.py: 539]
+05/10 14:06:29 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:06:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:06:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:06:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:06:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:06:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:06:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:06:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037745m	[env.py: 870]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:06:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88134725  0.25156694 -0.03774461] yaw=165.4deg	[env.py: 1019]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86567     0.10700006 -0.03774461] yaw=163.1deg	[env.py: 1019]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:06:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.6ms	[env.py: 1075]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.252, -0.038)	[env.py: 1079]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
+05/10 14:06:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:06:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:06:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:06:31 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:06:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:06:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:06:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:06:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:06:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:06:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.417[m] 86.517[deg]	[grasp_sample.py: 539]
+05/10 14:06:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:06:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:06:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:06:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:07:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:07:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:07:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:07:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:07:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:07:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:07:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:07:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:07:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:07:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:07:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:08:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:08:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:08:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:08:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:08:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:08:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:08:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.421s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:08:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.206[deg]	[grasp_sample.py: 539]
+05/10 14:08:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:08:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:08:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:08:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:08:53 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.778[deg]	[grasp_sample.py: 539]
+05/10 14:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:55 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:08:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:08:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:08:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:08:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:08:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:08:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:08:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:08:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023508m	[env.py: 870]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65319517  0.23237847 -0.02350847] yaw=164.6deg	[env.py: 1019]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72042623  0.42141276 -0.02350847] yaw=183.0deg	[env.py: 1019]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84320424  1.04817665 -0.02350847] yaw=-153.5deg	[env.py: 1019]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.6ms, total=163.7ms	[env.py: 1075]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.232, -0.024)	[env.py: 1079]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
+05/10 14:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:08:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.782s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:08:57 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.389[deg]	[grasp_sample.py: 539]
+05/10 14:08:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:08:57 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:08:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:08:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:08:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:08:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:08:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:08:58 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:08:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:08:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.674[m] 101.224[deg]	[grasp_sample.py: 539]
+05/10 14:08:59 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:08:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:08:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:08:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:09:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:09:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:09:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:09:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:09:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:09:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:09:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028376m	[env.py: 870]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:09:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89959851  0.93973362  0.02837596] yaw=-149.8deg	[env.py: 1019]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08894542  1.22452254  0.02837596] yaw=-118.7deg	[env.py: 1019]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:09:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.5ms, total=238.6ms	[env.py: 1075]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.940, 0.028)	[env.py: 1079]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg	[env.py: 1082]
+05/10 14:09:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:09:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:09:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:09:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:09:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:09:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:09:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:09:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:09:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:09:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 87.697[deg]	[grasp_sample.py: 539]
+05/10 14:09:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:09:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:09:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:09:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:09:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:09:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:09:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:09:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:09:23 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:09:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:09:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:09:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.31s (batch: 4.61s, save: 8.70s)	[pipeline.py: 300]
+05/10 14:09:35 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.74s:
+  episode_total: mean=220.92s, total=220.92s, count=1, min=220922.5ms, max=220922.5ms
+  sensor_polling: mean=479.5ms, total=143.86s, count=300, min=450.4ms, max=633.7ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8696.3ms, max=8696.3ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=15.5ms, max=32.9ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4613.5ms, max=4613.5ms
+  task_sampling: mean=3.74s, total=3.74s, count=1, min=3743.6ms, max=3743.6ms
+  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
+  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
+  task_specific_sample: mean=652.7ms, total=652.7ms, count=1, min=652.7ms, max=652.7ms
+  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
+  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
+  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
+  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
+  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=686.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:09:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:09:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:09:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:09:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:09:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:09:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:09:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044235m	[env.py: 870]
+05/10 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:09:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97971362  0.67989239  0.04423522] yaw=-165.6deg	[env.py: 1019]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00498182  0.58033261  0.04423522] yaw=-178.7deg	[env.py: 1019]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79657213  0.1582366   0.04423522] yaw=150.1deg	[env.py: 1019]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:09:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.0ms, total=142.0ms	[env.py: 1075]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.980, 0.680, 0.044)	[env.py: 1079]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.6 deg	[env.py: 1082]
+05/10 14:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.749m	[env.py: 1086]
+05/10 14:09:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:09:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:09:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:09:37 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:09:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:09:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:09:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:09:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:09:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:09:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.328[m] 91.136[deg]	[grasp_sample.py: 539]
+05/10 14:09:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:09:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:09:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:09:44 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:09:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:09:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:09:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:09:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:09:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:09:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:09:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.14s (batch: 4.38s, save: 8.76s)	[pipeline.py: 300]
+05/10 14:09:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.36s:
+  episode_total: mean=121.18s, total=242.35s, count=2, min=35900.7ms, max=206451.3ms
+  sensor_polling: mean=483.5ms, total=145.05s, count=300, min=462.3ms, max=603.4ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.8ms, max=8756.8ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.7ms, max=30.3ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4381.4ms, max=4381.4ms
+  task_sampling: mean=2.18s, total=4.36s, count=2, min=463.8ms, max=3896.5ms
+  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
+  task_specific_sample: mean=529.1ms, total=1.06s, count=2, min=461.1ms, max=597.1ms
+  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
+  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
+  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
+  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
+  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.5ms, max=2.1ms
+  mj_forward_sync: mean=693.9us, total=1.4ms, count=2, min=0.4ms, max=0.9ms
+  policy_setup: mean=25.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:09:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:09:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:09:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002766m	[env.py: 870]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.6ms, total=166.6ms	[env.py: 1105]
+05/10 14:09:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 14:09:59 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 14:10:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:10:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:10:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:10:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:10:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:10:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:10:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:10:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007892m	[env.py: 870]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:10:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95481712  0.55876433  0.00789238] yaw=-182.5deg	[env.py: 1019]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08122887  0.8956589   0.00789238] yaw=-142.4deg	[env.py: 1019]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02348414  0.18297724  0.00789238] yaw=145.6deg	[env.py: 1019]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:10:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms	[env.py: 1075]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.559, 0.008)	[env.py: 1079]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.5 deg	[env.py: 1082]
+05/10 14:10:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:10:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:10:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:10:01 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:10:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:10:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:10:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:10:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:10:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:10:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.327[m] 90.535[deg]	[grasp_sample.py: 539]
+05/10 14:10:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:10:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:10:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:10:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:10:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:10:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:10:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:10:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:10:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:10:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:10:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:10:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:11:33 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:11:34 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:11:56 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:11:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:11:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:11:57 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:11:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:11:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:12:04 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:12:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:12:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:12:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 11.99s (batch: 3.43s, save: 8.55s)	[pipeline.py: 300]
+05/10 14:12:10 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.34s:
+  episode_total: mean=187.41s, total=374.83s, count=2, min=181968.0ms, max=192860.4ms
+  sensor_polling: mean=464.4ms, total=267.48s, count=576, min=435.7ms, max=684.0ms
+  physics_step: mean=22.3ms, total=12.85s, count=576, min=15.7ms, max=49.2ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8554.5ms, max=8554.5ms
+  task_sampling: mean=2.17s, total=4.34s, count=2, min=426.8ms, max=3910.8ms
+  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3434.6ms, max=3434.6ms
+  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
+  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
+  task_specific_sample: mean=478.0ms, total=956.0ms, count=2, min=423.2ms, max=532.8ms
+  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
+  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
+  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
+  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.2ms, max=1.9ms
+  mj_forward_sync: mean=623.6us, total=1.2ms, count=2, min=0.4ms, max=0.8ms
+  policy_setup: mean=26.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:12:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:12:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:12:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.96s (batch: 4.70s, save: 9.26s)	[pipeline.py: 300]
+05/10 14:12:11 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.34s:
+  episode_total: mean=188.36s, total=376.72s, count=2, min=185557.6ms, max=191162.4ms
+  sensor_polling: mean=474.0ms, total=274.44s, count=579, min=435.6ms, max=734.4ms
+  physics_step: mean=22.4ms, total=12.96s, count=579, min=16.9ms, max=31.3ms
+  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.1ms, max=9263.1ms
+  task_sampling: mean=2.67s, total=5.34s, count=2, min=495.8ms, max=4848.4ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4695.2ms, max=4695.2ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
+  task_specific_sample: mean=671.6ms, total=1.34s, count=2, min=493.2ms, max=850.1ms
+  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
+  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
+  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
+  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=681.1us, total=1.4ms, count=2, min=0.4ms, max=0.9ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:12:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:12:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:12:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:12:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:12:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:12:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:12:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035267m	[env.py: 870]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:12:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74395368  0.59498521  0.03526688] yaw=-174.7deg	[env.py: 1019]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70476241  0.85947836  0.03526688] yaw=-161.8deg	[env.py: 1019]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86302923  0.41363316  0.03526688] yaw=176.3deg	[env.py: 1019]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:12:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=250.9ms	[env.py: 1075]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.595, 0.035)	[env.py: 1079]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
+05/10 14:12:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:12:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:12:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:12:12 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:12:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:12:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:12:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:12:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:12:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:12:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 98.523[deg]	[grasp_sample.py: 539]
+05/10 14:12:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:12:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:12:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:12:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:12:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:12:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:12:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:12:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048967m	[env.py: 870]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:12:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73075596  0.025655    0.04896676] yaw=154.9deg	[env.py: 1019]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:12:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:12:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90522028  0.48042069  0.04896676] yaw=174.7deg	[env.py: 1019]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95926488  0.11418804  0.04896676] yaw=149.7deg	[env.py: 1019]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:12:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.4ms	[env.py: 1075]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.026, 0.049)	[env.py: 1079]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.9 deg	[env.py: 1082]
+05/10 14:12:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:12:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:12:13 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:12:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:12:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:12:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:12:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:12:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.819s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:12:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.664[m] 101.791[deg]	[grasp_sample.py: 539]
+05/10 14:12:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:12:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:12:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:12:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:12:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:12:26 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/10 14:12:30 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:12:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:12:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.63s (batch: 4.22s, save: 8.41s)	[pipeline.py: 300]
+05/10 14:12:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=182.36s, total=182.36s, count=1, min=182363.3ms, max=182363.3ms
+  sensor_polling: mean=477.4ms, total=137.03s, count=287, min=451.2ms, max=732.1ms
+  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8409.6ms, max=8409.6ms
+  physics_step: mean=22.1ms, total=6.34s, count=287, min=17.0ms, max=30.8ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.5ms, max=4220.5ms
+  task_sampling: mean=424.3ms, total=424.3ms, count=1, min=424.3ms, max=424.3ms
+  task_specific_sample: mean=420.3ms, total=420.3ms, count=1, min=420.3ms, max=420.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=444.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:12:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:12:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:12:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:12:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:12:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:12:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:12:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019357m	[env.py: 870]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:12:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78023439  0.39542164 -0.01935712] yaw=168.8deg	[env.py: 1019]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98237261  0.79356752 -0.01935712] yaw=-164.7deg	[env.py: 1019]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94133528  1.07236431 -0.01935712] yaw=-149.3deg	[env.py: 1019]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:12:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.1ms, total=323.2ms	[env.py: 1075]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.395, -0.019)	[env.py: 1079]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
+05/10 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:12:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:12:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:12:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:12:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:12:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:12:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:12:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:12:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.501[m] 97.592[deg]	[grasp_sample.py: 539]
+05/10 14:12:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:12:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:12:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:12:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:12:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:12:52 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/10 14:13:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:13:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:13:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.41s (batch: 4.12s, save: 8.28s)	[pipeline.py: 300]
+05/10 14:13:05 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
+  episode_total: mean=92.17s, total=184.34s, count=2, min=178.3ms, max=184164.2ms
+  sensor_polling: mean=479.5ms, total=137.13s, count=286, min=453.1ms, max=704.2ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8284.0ms, max=8284.0ms
+  physics_step: mean=24.5ms, total=7.01s, count=286, min=16.3ms, max=40.8ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.9ms, max=4124.9ms
+  task_specific_sample: mean=275.7ms, total=551.3ms, count=2, min=172.1ms, max=379.2ms
+  task_sampling: mean=382.2ms, total=382.2ms, count=1, min=382.2ms, max=382.2ms
+  task_sampling_failed: mean=178.3ms, total=178.3ms, count=1, min=178.3ms, max=178.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=433.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:13:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:13:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:13:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:13:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:13:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:13:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:13:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045616m	[env.py: 870]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:13:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89849137  0.52992825 -0.0456164 ] yaw=-175.0deg	[env.py: 1019]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18856068  0.97996157 -0.0456164 ] yaw=-140.1deg	[env.py: 1019]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11712477  0.93137096 -0.0456164 ] yaw=-132.1deg	[env.py: 1019]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:13:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.8ms	[env.py: 1075]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.530, -0.046)	[env.py: 1079]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.0 deg	[env.py: 1082]
+05/10 14:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:13:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:13:07 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:13:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:13:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:13:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:13:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:13:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:13:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 94.585[deg]	[grasp_sample.py: 539]
+05/10 14:13:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:13:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:13:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:13:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:13:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:13:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:13:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:13:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:13:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:13:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:13:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:13:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:14:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:14:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:14:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:14:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:14:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:14:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:14:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:14:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:14:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:14:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:14:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.450s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:14:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.088[deg]	[grasp_sample.py: 539]
+05/10 14:14:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:14:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:14:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:14:44 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:14:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:15:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:15:02 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 14:15:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.49s:
+  episode_total: mean=169.06s, total=169.06s, count=1, min=169063.6ms, max=169063.6ms
+  sensor_polling: mean=479.6ms, total=143.87s, count=300, min=453.1ms, max=759.2ms
+  physics_step: mean=22.8ms, total=6.85s, count=300, min=15.2ms, max=31.6ms
+  task_sampling: mean=488.3ms, total=488.3ms, count=1, min=488.3ms, max=488.3ms
+  task_specific_sample: mean=484.1ms, total=484.1ms, count=1, min=484.1ms, max=484.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:15:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:15:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:15:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011141m	[env.py: 870]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84751969  0.86747897 -0.01114094] yaw=-160.9deg	[env.py: 1019]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74676332  0.57139074 -0.01114094] yaw=-171.7deg	[env.py: 1019]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9162073   0.49529128 -0.01114094] yaw=-179.0deg	[env.py: 1019]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1075]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.867, -0.011)	[env.py: 1079]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
+05/10 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:15:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:15:04 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:15:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:15:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:15:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:15:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:15:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:15:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 86.231[deg]	[grasp_sample.py: 539]
+05/10 14:15:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:15:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:15:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:15:06 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:15:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:15:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:15:17 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:15:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:15:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:15:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.93s (batch: 4.47s, save: 8.46s)	[pipeline.py: 300]
+05/10 14:15:19 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s:
+  episode_total: mean=188.15s, total=188.15s, count=1, min=188147.8ms, max=188147.8ms
+  sensor_polling: mean=475.8ms, total=142.73s, count=300, min=451.5ms, max=844.0ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8458.9ms, max=8458.9ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=16.5ms, max=30.6ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4472.0ms, max=4472.0ms
+  task_sampling: mean=554.4ms, total=554.4ms, count=1, min=554.4ms, max=554.4ms
+  task_specific_sample: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=493.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:15:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:15:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:15:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:15:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:15:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:15:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:15:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003836m	[env.py: 870]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:15:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07203263  1.02068654  0.00383565] yaw=-141.0deg	[env.py: 1019]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70530599  0.83474812  0.00383565] yaw=-166.7deg	[env.py: 1019]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85919908  0.66731778  0.00383565] yaw=-178.5deg	[env.py: 1019]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:15:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.9ms, total=93.9ms	[env.py: 1075]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.021, 0.004)	[env.py: 1079]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
+05/10 14:15:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:15:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:15:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:15:21 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:15:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:15:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:15:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:15:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:15:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:15:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.375[m] 84.383[deg]	[grasp_sample.py: 539]
+05/10 14:15:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:15:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:15:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:15:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:15:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:15:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:15:45 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:15:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:15:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:15:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.86s (batch: 4.34s, save: 9.52s)	[pipeline.py: 300]
+05/10 14:15:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:15:54 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.63s:
+  episode_total: mean=193.90s, total=193.90s, count=1, min=193900.4ms, max=193900.4ms
+  sensor_polling: mean=485.2ms, total=145.56s, count=300, min=455.6ms, max=783.2ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9518.2ms, max=9518.2ms
+  physics_step: mean=23.5ms, total=7.06s, count=300, min=18.8ms, max=38.1ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4340.4ms, max=4340.4ms
+  task_sampling: mean=628.8ms, total=628.8ms, count=1, min=628.8ms, max=628.8ms
+  task_specific_sample: mean=624.8ms, total=624.8ms, count=1, min=624.8ms, max=624.8ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=451.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:15:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:15:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:15:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:15:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009189m	[env.py: 870]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9438823   0.85806287 -0.00918854] yaw=-144.6deg	[env.py: 1019]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80088408  0.74344339 -0.00918854] yaw=-169.4deg	[env.py: 1019]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70427385  0.04769636 -0.00918854] yaw=153.1deg	[env.py: 1019]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:15:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=84.5ms, total=84.6ms	[env.py: 1075]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.858, -0.009)	[env.py: 1079]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg	[env.py: 1082]
+05/10 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:15:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:15:57 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:15:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:15:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:15:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:15:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:15:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:15:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 82.622[deg]	[grasp_sample.py: 539]
+05/10 14:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:15:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:15:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:15:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:16:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:16:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:16:08 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:16:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:16:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:16:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:16:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:16:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:16:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:16:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.41s (batch: 4.30s, save: 9.12s)	[pipeline.py: 300]
+05/10 14:16:22 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
+  episode_total: mean=195.31s, total=195.31s, count=1, min=195310.8ms, max=195310.8ms
+  sensor_polling: mean=483.0ms, total=144.89s, count=300, min=453.7ms, max=735.7ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9117.8ms, max=9117.8ms
+  physics_step: mean=22.4ms, total=6.71s, count=300, min=16.6ms, max=34.3ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4295.1ms, max=4295.1ms
+  task_sampling: mean=398.6ms, total=398.6ms, count=1, min=398.6ms, max=398.6ms
+  task_specific_sample: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=444.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:16:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:16:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:16:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:16:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:16:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:16:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:16:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035141m	[env.py: 870]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:16:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97514845  0.20865218  0.03514068] yaw=156.3deg	[env.py: 1019]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83401297  0.81676644  0.03514068] yaw=-161.2deg	[env.py: 1019]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03018768  1.16249068  0.03514068] yaw=-140.4deg	[env.py: 1019]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:16:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.2ms, total=108.3ms	[env.py: 1075]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.209, 0.035)	[env.py: 1079]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg	[env.py: 1082]
+05/10 14:16:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.777m	[env.py: 1086]
+05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:16:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:16:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:16:24 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:16:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:16:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:16:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:16:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:16:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:16:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.315[m] 80.006[deg]	[grasp_sample.py: 539]
+05/10 14:16:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:16:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:16:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:16:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:16:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:16:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:16:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:17:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:17:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:17:37 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:17:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:17:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:17:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:17:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:17:56 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:17:56 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.248[deg]	[grasp_sample.py: 539]
+05/10 14:17:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:57 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:17:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:17:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:17:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:17:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:17:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:17:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:17:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:17:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:17:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:17:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:17:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038383m	[env.py: 870]
+05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:17:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60971682  0.5733481   0.03838331] yaw=-174.7deg	[env.py: 1019]
+05/10 14:17:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80833115  0.63032623  0.03838331] yaw=-172.9deg	[env.py: 1019]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80321012  0.0394085   0.03838331] yaw=148.3deg	[env.py: 1019]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:18:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=387.9ms, total=387.9ms	[env.py: 1075]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.610, 0.573, 0.038)	[env.py: 1079]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
+05/10 14:18:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/10 14:18:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:18:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:18:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:18:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:18:00 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:18:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:18:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:18:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:18:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:18:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:18:01 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:18:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:18:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:18:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:18:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.659[m] 89.172[deg]	[grasp_sample.py: 539]
+05/10 14:18:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:18:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:18:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:18:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:18:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:18:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:18:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:18:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:18:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:18:09 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:18:09 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.274[deg]	[grasp_sample.py: 539]
+05/10 14:18:10 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:18:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:18:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:18:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:18:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:18:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:18:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:18:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025100m	[env.py: 870]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:18:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07153121  1.24383276  0.02509963] yaw=-119.6deg	[env.py: 1019]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13561491  1.10709203  0.02509963] yaw=-129.6deg	[env.py: 1019]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:18:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.4ms, total=266.5ms	[env.py: 1075]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.244, 0.025)	[env.py: 1079]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.6 deg	[env.py: 1082]
+05/10 14:18:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:18:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:18:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:18:12 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:18:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:18:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:18:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:18:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:18:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:18:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.544[m] 81.534[deg]	[grasp_sample.py: 539]
+05/10 14:18:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:18:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:18:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:18:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:18:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:18:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.58s (batch: 4.38s, save: 9.20s)	[pipeline.py: 300]
+05/10 14:18:15 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
+  episode_total: mean=191.77s, total=191.77s, count=1, min=191765.7ms, max=191765.7ms
+  sensor_polling: mean=476.0ms, total=142.79s, count=300, min=445.0ms, max=726.4ms
+  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9201.5ms, max=9201.5ms
+  physics_step: mean=22.3ms, total=6.70s, count=300, min=16.0ms, max=49.0ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4378.3ms, max=4378.3ms
+  task_sampling: mean=394.1ms, total=394.1ms, count=1, min=394.1ms, max=394.1ms
+  task_specific_sample: mean=390.9ms, total=390.9ms, count=1, min=390.9ms, max=390.9ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=415.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:18:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:18:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:18:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:18:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:18:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:18:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:18:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031420m	[env.py: 870]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:18:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90537391  0.78232927  0.03142028] yaw=-166.5deg	[env.py: 1019]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86572888  0.12055873  0.03142028] yaw=152.1deg	[env.py: 1019]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:18:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.0ms	[env.py: 1075]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.782, 0.031)	[env.py: 1079]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg	[env.py: 1082]
+05/10 14:18:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:18:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:18:18 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:18:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:18:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:18:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:18:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:18:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:18:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 89.500[deg]	[grasp_sample.py: 539]
+05/10 14:18:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:18:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:18:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:18:33 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:18:56 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:18:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:18:56 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 14:18:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:19:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:19:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:19:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:19:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:19:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.08s (batch: 4.37s, save: 8.71s)	[pipeline.py: 300]
+05/10 14:19:09 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
+  episode_total: mean=193.37s, total=193.37s, count=1, min=193370.6ms, max=193370.6ms
+  sensor_polling: mean=490.0ms, total=146.50s, count=299, min=459.2ms, max=659.8ms
+  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8706.6ms, max=8706.6ms
+  physics_step: mean=22.9ms, total=6.86s, count=299, min=16.5ms, max=32.9ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.5ms, max=4374.5ms
+  task_sampling: mean=389.6ms, total=389.6ms, count=1, min=389.6ms, max=389.6ms
+  task_specific_sample: mean=385.0ms, total=385.0ms, count=1, min=385.0ms, max=385.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=497.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:19:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:19:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:19:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:19:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:19:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:19:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:19:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:19:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044560m	[env.py: 870]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:19:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75084256  0.55442678 -0.0445596 ] yaw=-178.6deg	[env.py: 1019]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94782     0.46865595 -0.0445596 ] yaw=178.2deg	[env.py: 1019]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85904163  0.0377907  -0.0445596 ] yaw=152.0deg	[env.py: 1019]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:19:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.6ms	[env.py: 1075]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.554, -0.045)	[env.py: 1079]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.6 deg	[env.py: 1082]
+05/10 14:19:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:19:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:19:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:19:12 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:19:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:19:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:19:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:19:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:19:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:19:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.544[m] 98.544[deg]	[grasp_sample.py: 539]
+05/10 14:19:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:19:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:19:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:19:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:19:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:19:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:19:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:20:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:20:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:20:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:20:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:20:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:20:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:20:16 INFO: [Worker 0] Feasibility-checked 70 grasps in 1.773s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 14:20:16 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 14:20:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:20:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:20:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:20:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:20:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:20:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:20:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020229m	[env.py: 870]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:20:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8942734   1.19744634 -0.02022881] yaw=-127.5deg	[env.py: 1019]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89133768  0.76884576 -0.02022881] yaw=-158.8deg	[env.py: 1019]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03225475  0.89598383 -0.02022881] yaw=-148.9deg	[env.py: 1019]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:20:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.3ms, total=154.3ms	[env.py: 1075]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 1.197, -0.020)	[env.py: 1079]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg	[env.py: 1082]
+05/10 14:20:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:20:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:20:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:20:18 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:20:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:20:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:20:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:20:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:20:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:20:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:20:20 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.703[m] 102.299[deg]	[grasp_sample.py: 539]
+05/10 14:20:21 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:20:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:20:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:20:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:20:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:20:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:20:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026751m	[env.py: 870]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:20:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.0ms, total=174.0ms	[env.py: 1105]
+05/10 14:20:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 14:20:23 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 14:20:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:20:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:20:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:20:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:20:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:20:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:20:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:20:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015089m	[env.py: 870]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:20:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7794751   0.62967367 -0.01508897] yaw=-172.1deg	[env.py: 1019]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87277282  0.50430861 -0.01508897] yaw=-187.1deg	[env.py: 1019]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:20:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms	[env.py: 1075]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.630, -0.015)	[env.py: 1079]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg	[env.py: 1082]
+05/10 14:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:20:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:20:25 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:20:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:20:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:20:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:20:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:20:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:20:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.490[m] 88.945[deg]	[grasp_sample.py: 539]
+05/10 14:20:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:20:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:20:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:20:34 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:20:52 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:20:58 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:20:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:20:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:21:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:21:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:21:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.84s (batch: 4.56s, save: 8.28s)	[pipeline.py: 300]
+05/10 14:21:12 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.19s:
+  episode_total: mean=174.32s, total=348.64s, count=2, min=156498.6ms, max=192143.2ms
+  sensor_polling: mean=479.9ms, total=275.46s, count=574, min=444.5ms, max=844.8ms
+  physics_step: mean=22.4ms, total=12.84s, count=574, min=15.7ms, max=33.6ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8275.3ms, max=8275.3ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4559.7ms, max=4559.7ms
+  task_sampling: mean=594.5ms, total=1.19s, count=2, min=408.7ms, max=780.3ms
+  task_specific_sample: mean=590.6ms, total=1.18s, count=2, min=404.8ms, max=776.3ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
+  mj_forward_sync: mean=541.1us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:21:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:21:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:21:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:21:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:21:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:21:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:21:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035715m	[env.py: 870]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:21:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17456842  1.00305834  0.03571494] yaw=-140.7deg	[env.py: 1019]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9937009   0.64250918  0.03571494] yaw=-172.3deg	[env.py: 1019]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92664416  1.21694769  0.03571494] yaw=-139.1deg	[env.py: 1019]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:21:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.9ms, total=117.9ms	[env.py: 1075]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.003, 0.036)	[env.py: 1079]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg	[env.py: 1082]
+05/10 14:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.742m	[env.py: 1086]
+05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:21:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:21:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:21:14 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:21:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:21:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:21:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:21:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:21:14 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:21:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:21:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:21:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:21:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.314[m] 86.943[deg]	[grasp_sample.py: 539]
+05/10 14:21:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:21:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:21:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:21:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:21:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:21:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:21:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:21:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 15.29s (batch: 4.28s, save: 11.02s)	[pipeline.py: 300]
+05/10 14:21:30 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=193.04s, total=193.04s, count=1, min=193036.4ms, max=193036.4ms
+  sensor_polling: mean=481.5ms, total=144.45s, count=300, min=445.7ms, max=880.2ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11018.3ms, max=11018.3ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=15.6ms, max=40.9ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.6ms, max=4276.6ms
+  task_sampling: mean=487.1ms, total=487.1ms, count=1, min=487.1ms, max=487.1ms
+  task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:21:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:21:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:21:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:21:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:21:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:21:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:21:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034907m	[env.py: 870]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:21:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8928421   0.27860261  0.03490673] yaw=154.8deg	[env.py: 1019]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14272022  1.03364451  0.03490673] yaw=-127.1deg	[env.py: 1019]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:21:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=178.6ms, total=178.7ms	[env.py: 1075]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.279, 0.035)	[env.py: 1079]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.8 deg	[env.py: 1082]
+05/10 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:21:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:21:33 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:21:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:21:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:21:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:21:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:21:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:21:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.376[m] 89.190[deg]	[grasp_sample.py: 539]
+05/10 14:21:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:21:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:21:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:21:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:21:48 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:21:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:21:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:22:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:22:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:22:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:22:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:22:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:22:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:22:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.30s (batch: 4.40s, save: 8.90s)	[pipeline.py: 300]
+05/10 14:22:24 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.55s:
+  episode_total: mean=192.98s, total=192.98s, count=1, min=192982.3ms, max=192982.3ms
+  sensor_polling: mean=483.6ms, total=145.09s, count=300, min=455.1ms, max=720.1ms
+  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8895.1ms, max=8895.1ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=18.8ms, max=79.8ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4400.1ms, max=4400.1ms
+  task_sampling: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms
+  task_specific_sample: mean=546.0ms, total=546.0ms, count=1, min=546.0ms, max=546.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=39.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:22:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:22:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:22:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:22:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:22:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:22:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:22:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:22:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028836m	[env.py: 870]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:22:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15961076  1.12263759 -0.02883615] yaw=-119.6deg	[env.py: 1019]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15394852  1.0527929  -0.02883615] yaw=-131.5deg	[env.py: 1019]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98218125  0.15705872 -0.02883615] yaw=146.8deg	[env.py: 1019]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:22:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms	[env.py: 1075]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.160, 1.123, -0.029)	[env.py: 1079]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.6 deg	[env.py: 1082]
+05/10 14:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:22:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:22:26 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:22:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:22:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:22:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:22:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:22:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:22:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.433[m] 90.855[deg]	[grasp_sample.py: 539]
+05/10 14:22:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:22:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:22:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:22:59 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:23:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:21 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:23:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:23:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:23:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:23:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:23:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:23:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:23:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:23:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.113[deg]	[grasp_sample.py: 539]
+05/10 14:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:29 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:23:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:23:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:23:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:23:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:23:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:23:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:23:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:23:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:23:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040661m	[env.py: 870]
+05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:23:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:23:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81628415  0.196483   -0.04066056] yaw=167.7deg	[env.py: 1019]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68727892  0.24669975 -0.04066056] yaw=164.4deg	[env.py: 1019]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05481447  0.83173347 -0.04066056] yaw=-154.6deg	[env.py: 1019]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:23:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms	[env.py: 1075]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.816, 0.196, -0.041)	[env.py: 1079]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg	[env.py: 1082]
+05/10 14:23:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/10 14:23:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:23:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:23:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:23:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:23:31 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:23:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:23:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:23:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:23:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:23:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.477[m] 83.858[deg]	[grasp_sample.py: 539]
+05/10 14:23:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:23:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:23:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:23:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:23:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.59s (batch: 3.83s, save: 8.76s)	[pipeline.py: 300]
+05/10 14:23:34 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.88s:
+  episode_total: mean=84.65s, total=423.24s, count=5, min=183.8ms, max=189338.8ms
+  sensor_polling: mean=483.5ms, total=329.27s, count=681, min=433.8ms, max=838.7ms
+  physics_step: mean=22.3ms, total=15.18s, count=681, min=15.6ms, max=38.2ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8764.3ms, max=8764.3ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3827.0ms, max=3827.0ms
+  task_specific_sample: mean=408.7ms, total=2.04s, count=5, min=178.5ms, max=542.7ms
+  task_sampling: mean=469.7ms, total=1.88s, count=4, min=417.5ms, max=545.9ms
+  task_sampling_failed: mean=183.8ms, total=183.8ms, count=1, min=183.8ms, max=183.8ms
+  scene_randomize: mean=1.7ms, total=8.3ms, count=5, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=431.8us, total=2.2ms, count=5, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:23:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:23:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:23:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:23:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:23:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:23:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040736m	[env.py: 870]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:23:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79282446  0.72311692 -0.04073633] yaw=-170.0deg	[env.py: 1019]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69299362  0.52228128 -0.04073633] yaw=-183.4deg	[env.py: 1019]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04882899  1.28335603 -0.04073633] yaw=-136.4deg	[env.py: 1019]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:23:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.7ms	[env.py: 1075]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.723, -0.041)	[env.py: 1079]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg	[env.py: 1082]
+05/10 14:23:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:23:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:23:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:23:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:23:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:23:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:23:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:23:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:23:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:23:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:23:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:23:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:23:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:23:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:23:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 89.644[deg]	[grasp_sample.py: 539]
+05/10 14:23:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:23:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:23:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:23:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.806s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:23:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.354[deg]	[grasp_sample.py: 539]
+05/10 14:23:39 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:23:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:23:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:23:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:23:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:23:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:23:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:23:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014895m	[env.py: 870]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:23:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89084892  0.33911941 -0.01489474] yaw=174.0deg	[env.py: 1019]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04754105  0.91572204 -0.01489474] yaw=-153.0deg	[env.py: 1019]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66163747  0.48259597 -0.01489474] yaw=-170.2deg	[env.py: 1019]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:23:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms	[env.py: 1075]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.339, -0.015)	[env.py: 1079]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg	[env.py: 1082]
+05/10 14:23:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:23:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:23:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:23:42 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:23:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:23:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:23:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:23:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:23:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:23:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.378[m] 89.484[deg]	[grasp_sample.py: 539]
+05/10 14:23:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:23:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:23:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:24:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:24:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:24:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:24:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:24:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:24:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:24:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:24:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:24:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:24:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:24:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:24:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:24:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:24:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:24:49 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.057[m] 9.931[deg]	[grasp_sample.py: 539]
+05/10 14:24:50 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:24:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:24:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:24:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:24:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:24:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:24:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:24:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036250m	[env.py: 870]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:24:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09469198  1.17180561  0.03624994] yaw=-140.2deg	[env.py: 1019]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:24:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.6ms, total=178.6ms	[env.py: 1075]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.172, 0.036)	[env.py: 1079]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.2 deg	[env.py: 1082]
+05/10 14:24:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:24:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:24:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:24:52 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:24:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:24:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:24:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:24:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:24:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.696s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:24:54 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.542[m] 92.338[deg]	[grasp_sample.py: 539]
+05/10 14:24:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:24:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:24:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:25:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:25:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:26:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:26:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:26:08 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:26:13 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:26:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:26:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:26:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:26:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:26:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:26:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:26:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:26:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:26:36 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/10 14:26:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:26:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:26:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.97s (batch: 4.39s, save: 8.58s)	[pipeline.py: 300]
+05/10 14:26:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:26:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:26:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.79s (batch: 4.36s, save: 8.43s)	[pipeline.py: 300]
+05/10 14:26:43 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
+  episode_total: mean=187.87s, total=187.87s, count=1, min=187871.5ms, max=187871.5ms
+  sensor_polling: mean=473.0ms, total=141.89s, count=300, min=449.3ms, max=650.5ms
+  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8580.0ms, max=8580.0ms
+  physics_step: mean=21.7ms, total=6.51s, count=300, min=16.4ms, max=32.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.5ms, max=4391.5ms
+  task_sampling: mean=518.0ms, total=518.0ms, count=1, min=518.0ms, max=518.0ms
+  task_specific_sample: mean=514.1ms, total=514.1ms, count=1, min=514.1ms, max=514.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=463.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:26:44 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.94s:
+  episode_total: mean=154.94s, total=309.89s, count=2, min=116772.0ms, max=193118.0ms
+  sensor_polling: mean=487.5ms, total=244.26s, count=501, min=455.6ms, max=792.6ms
+  physics_step: mean=23.3ms, total=11.65s, count=501, min=17.3ms, max=57.9ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8426.0ms, max=8426.0ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.8ms, max=4361.8ms
+  task_sampling: mean=468.3ms, total=936.5ms, count=2, min=416.4ms, max=520.1ms
+  task_specific_sample: mean=464.3ms, total=928.6ms, count=2, min=413.2ms, max=515.4ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.4ms, max=3.2ms
+  mj_forward_sync: mean=491.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:26:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:26:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:26:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:26:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:26:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:26:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:26:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034466m	[env.py: 870]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:26:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67683357  0.45327974 -0.03446587] yaw=188.7deg	[env.py: 1019]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0120703   0.32471474 -0.03446587] yaw=162.3deg	[env.py: 1019]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:26:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:26:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:26:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:26:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:26:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:26:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:26:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034907m	[env.py: 870]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:26:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:26:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms	[env.py: 1075]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.453, -0.034)	[env.py: 1079]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.7 deg	[env.py: 1082]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:26:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82927735  0.18855344 -0.03490672] yaw=166.0deg	[env.py: 1019]
+05/10 14:26:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88984311  0.4486617  -0.03490672] yaw=177.3deg	[env.py: 1019]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03827952  0.97393978 -0.03490672] yaw=-153.0deg	[env.py: 1019]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:26:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=392.8ms, total=392.9ms	[env.py: 1075]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.189, -0.035)	[env.py: 1079]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
+05/10 14:26:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/10 14:26:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:26:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:26:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:26:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:26:46 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:26:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:26:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:26:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:26:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:26:46 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:26:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:26:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:26:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:26:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:26:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:26:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.593[m] 86.916[deg]	[grasp_sample.py: 539]
+05/10 14:26:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:26:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:26:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.450[m] 82.859[deg]	[grasp_sample.py: 539]
+05/10 14:26:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:26:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:26:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:26:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:26:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:26:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:26:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:26:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.33s (batch: 4.43s, save: 8.90s)	[pipeline.py: 300]
+05/10 14:26:50 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.82s:
+  episode_total: mean=167.60s, total=335.20s, count=2, min=146130.6ms, max=189065.2ms
+  sensor_polling: mean=477.5ms, total=265.97s, count=557, min=445.3ms, max=805.4ms
+  physics_step: mean=22.7ms, total=12.62s, count=557, min=15.0ms, max=35.9ms
+  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8904.2ms, max=8904.2ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.6ms, max=4426.6ms
+  task_sampling: mean=411.3ms, total=822.6ms, count=2, min=391.4ms, max=431.2ms
+  task_specific_sample: mean=407.3ms, total=814.6ms, count=2, min=387.6ms, max=427.0ms
+  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.1ms, max=2.7ms
+  mj_forward_sync: mean=454.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:26:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:26:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007580m	[env.py: 870]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90995477  0.26413738  0.00757984] yaw=174.7deg	[env.py: 1019]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04159775  0.24403971  0.00757984] yaw=162.0deg	[env.py: 1019]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06960744  1.01922807  0.00757984] yaw=-146.4deg	[env.py: 1019]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:26:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.1ms	[env.py: 1075]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.264, 0.008)	[env.py: 1079]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
+05/10 14:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:26:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:26:52 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:26:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:26:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:26:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:26:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:26:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 94.698[deg]	[grasp_sample.py: 539]
+05/10 14:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:26:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:26:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:26:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:26:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:27:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:27:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:27:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:27:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:27:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:27:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:27:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:27:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:27:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:27:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:27:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.295[deg]	[grasp_sample.py: 539]
+05/10 14:27:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:27:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:27:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:27:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:27:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:27:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:27:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:27:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:27:38 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:27:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:27:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:27:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:27:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:27:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:27:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:28:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:28:02 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:28:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:28:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:28:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:28:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:28:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.99s (batch: 4.52s, save: 8.47s)	[pipeline.py: 300]
+05/10 14:28:15 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.87s:
+  episode_total: mean=173.90s, total=347.80s, count=2, min=144265.5ms, max=203535.8ms
+  sensor_polling: mean=479.1ms, total=265.88s, count=555, min=452.0ms, max=753.2ms
+  physics_step: mean=21.8ms, total=12.08s, count=555, min=16.2ms, max=38.4ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8468.5ms, max=8468.5ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4521.4ms, max=4521.4ms
+  task_sampling: mean=435.4ms, total=870.8ms, count=2, min=424.9ms, max=445.9ms
+  task_specific_sample: mean=431.9ms, total=863.8ms, count=2, min=421.1ms, max=442.6ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=414.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:28:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:28:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:28:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:28:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:28:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:28:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:28:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006864m	[env.py: 870]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:28:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77705269  0.28051767  0.0068636 ] yaw=170.9deg	[env.py: 1019]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:28:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.9ms, total=193.9ms	[env.py: 1075]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.281, 0.007)	[env.py: 1079]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg	[env.py: 1082]
+05/10 14:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:28:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:28:18 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:28:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:28:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:28:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:28:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:28:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:28:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.531[m] 94.745[deg]	[grasp_sample.py: 539]
+05/10 14:28:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:28:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:28:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:28:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:28:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:28:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:28:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:28:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:28:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:28:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.595s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:28:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.526[deg]	[grasp_sample.py: 539]
+05/10 14:28:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:28:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:28:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:28:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:29:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:29:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:29:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:29:20 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:29:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:29:24 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:29:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:29:41 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:29:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:29:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:29:46 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:29:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:29:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:29:48 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:29:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:29:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:29:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.83s (batch: 4.36s, save: 8.47s)	[pipeline.py: 300]
+05/10 14:29:55 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.68s:
+  episode_total: mean=189.85s, total=189.85s, count=1, min=189849.9ms, max=189849.9ms
+  sensor_polling: mean=481.6ms, total=144.48s, count=300, min=452.1ms, max=683.2ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8466.4ms, max=8466.4ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.3ms, max=33.7ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.1ms, max=4361.1ms
+  task_sampling: mean=676.6ms, total=676.6ms, count=1, min=676.6ms, max=676.6ms
+  task_specific_sample: mean=672.5ms, total=672.5ms, count=1, min=672.5ms, max=672.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=423.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:29:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:29:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:29:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:29:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:29:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:29:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:29:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002162m	[env.py: 870]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:29:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81393293  0.40537927  0.00216236] yaw=180.1deg	[env.py: 1019]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84176848  0.29764408  0.00216236] yaw=161.6deg	[env.py: 1019]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:29:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.5ms, total=219.5ms	[env.py: 1075]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.405, 0.002)	[env.py: 1079]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.1 deg	[env.py: 1082]
+05/10 14:29:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:29:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:29:57 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:29:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:29:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:29:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:29:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:29:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.509[m] 103.074[deg]	[grasp_sample.py: 539]
+05/10 14:29:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:29:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:29:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:29:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:29:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:29:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.01s (batch: 4.17s, save: 8.84s)	[pipeline.py: 300]
+05/10 14:29:59 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.69s:
+  episode_total: mean=193.83s, total=193.83s, count=1, min=193831.4ms, max=193831.4ms
+  sensor_polling: mean=491.9ms, total=147.57s, count=300, min=454.7ms, max=833.8ms
+  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8837.8ms, max=8837.8ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=16.3ms, max=31.4ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4167.5ms, max=4167.5ms
+  task_sampling: mean=685.7ms, total=685.7ms, count=1, min=685.7ms, max=685.7ms
+  task_specific_sample: mean=680.3ms, total=680.3ms, count=1, min=680.3ms, max=680.3ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=755.7us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:30:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:30:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:30:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:30:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:30:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:30:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:30:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018199m	[env.py: 870]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:30:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8526533   0.16758849 -0.01819886] yaw=160.7deg	[env.py: 1019]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14621238  1.07529737 -0.01819886] yaw=-138.9deg	[env.py: 1019]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88893924  0.50199117 -0.01819886] yaw=-174.9deg	[env.py: 1019]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:30:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms	[env.py: 1075]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.168, -0.018)	[env.py: 1079]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg	[env.py: 1082]
+05/10 14:30:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:30:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:30:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:30:01 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:30:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:30:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:30:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:30:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:30:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:30:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.453[m] 88.220[deg]	[grasp_sample.py: 539]
+05/10 14:30:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:30:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:30:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:30:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:30:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:30:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:30:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:30:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:30:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.20s (batch: 4.70s, save: 8.50s)	[pipeline.py: 300]
+05/10 14:30:23 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.42s:
+  episode_total: mean=210.91s, total=210.91s, count=1, min=210912.9ms, max=210912.9ms
+  sensor_polling: mean=487.0ms, total=146.09s, count=300, min=458.3ms, max=759.1ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8503.5ms, max=8503.5ms
+  physics_step: mean=21.8ms, total=6.55s, count=300, min=15.9ms, max=67.4ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4700.7ms, max=4700.7ms
+  task_sampling: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
+  task_specific_sample: mean=418.5ms, total=418.5ms, count=1, min=418.5ms, max=418.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=431.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:30:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:30:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:30:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:30:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:30:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:30:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:30:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029621m	[env.py: 870]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:30:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94631909  0.31345635  0.02962057] yaw=166.2deg	[env.py: 1019]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69040675  0.41955552  0.02962057] yaw=182.9deg	[env.py: 1019]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73251442  0.10641662  0.02962057] yaw=157.5deg	[env.py: 1019]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:30:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.6ms	[env.py: 1075]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.313, 0.030)	[env.py: 1079]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.2 deg	[env.py: 1082]
+05/10 14:30:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.775m	[env.py: 1086]
+05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:30:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:30:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:30:25 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:30:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:30:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:30:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:30:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:30:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:30:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.298[m] 87.165[deg]	[grasp_sample.py: 539]
+05/10 14:30:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:30:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:30:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:30:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:30:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:30:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:30:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:31:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:31:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:31:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:31:05 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:31:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:31:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:31:29 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:31:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:31:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:31:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:31:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:31:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.54s (batch: 4.38s, save: 9.16s)	[pipeline.py: 300]
+05/10 14:31:44 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.50s:
+  episode_total: mean=206.47s, total=206.47s, count=1, min=206471.8ms, max=206471.8ms
+  sensor_polling: mean=486.6ms, total=145.97s, count=300, min=452.1ms, max=745.1ms
+  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9162.5ms, max=9162.5ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=17.1ms, max=39.5ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4377.5ms, max=4377.5ms
+  task_sampling: mean=500.2ms, total=500.2ms, count=1, min=500.2ms, max=500.2ms
+  task_specific_sample: mean=496.0ms, total=496.0ms, count=1, min=496.0ms, max=496.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=467.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:31:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:31:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:31:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:31:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:31:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:31:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:31:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:31:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016052m	[env.py: 870]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:31:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06149047  0.86727862  0.01605226] yaw=-139.9deg	[env.py: 1019]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85918114  0.149177    0.01605226] yaw=155.2deg	[env.py: 1019]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:31:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.2ms	[env.py: 1075]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.867, 0.016)	[env.py: 1079]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg	[env.py: 1082]
+05/10 14:31:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.748m	[env.py: 1086]
+05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:31:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:31:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:31:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:31:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:31:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:31:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:31:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:31:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:31:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.119[deg]	[grasp_sample.py: 539]
+05/10 14:31:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:31:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:31:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:31:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:31:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:31:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:31:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:31:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:31:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:31:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:31:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:31:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:31:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.490[deg]	[grasp_sample.py: 539]
+05/10 14:31:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:31:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:31:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:31:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:32:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:32:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:32:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:32:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:32:10 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:32:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg]	[grasp_sample.py: 539]
+05/10 14:32:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:32:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:32:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:32:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:32:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:32:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:32:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:32:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:32:24 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg]	[grasp_sample.py: 539]
+05/10 14:32:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:32:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:32:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:32:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:37 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:32:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 14:32:38 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 14:32:38 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.45s:
+  episode_total: mean=133.72s, total=133.72s, count=1, min=133724.2ms, max=133724.2ms
+  sensor_polling: mean=488.4ms, total=88.89s, count=182, min=464.3ms, max=773.2ms
+  physics_step: mean=21.9ms, total=3.99s, count=182, min=14.1ms, max=34.3ms
+  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
+  task_specific_sample: mean=450.9ms, total=450.9ms, count=1, min=450.9ms, max=450.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=430.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:32:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:32:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:32:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:32:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:32:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:32:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036635m	[env.py: 870]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:32:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65488628  0.60990802 -0.03663531] yaw=-176.9deg	[env.py: 1019]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86793302  0.6301593  -0.03663531] yaw=-175.7deg	[env.py: 1019]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6853906   0.26653787 -0.03663531] yaw=159.8deg	[env.py: 1019]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:32:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms	[env.py: 1075]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.610, -0.037)	[env.py: 1079]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg	[env.py: 1082]
+05/10 14:32:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:32:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:32:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:32:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:32:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:32:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:32:41 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:32:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:32:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.616[m] 88.715[deg]	[grasp_sample.py: 539]
+05/10 14:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:32:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:32:42 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.892[deg]	[grasp_sample.py: 539]
+05/10 14:32:43 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:32:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:32:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:32:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:32:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:32:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:32:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:32:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010946m	[env.py: 870]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:32:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88086928  0.98429046 -0.01094578] yaw=-156.5deg	[env.py: 1019]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87664164  0.79218388 -0.01094578] yaw=-153.2deg	[env.py: 1019]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:32:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.7ms	[env.py: 1075]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.984, -0.011)	[env.py: 1079]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg	[env.py: 1082]
+05/10 14:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:32:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:32:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:32:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:32:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:32:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:32:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:32:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:32:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 95.524[deg]	[grasp_sample.py: 539]
+05/10 14:32:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:32:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:32:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:32:59 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:32:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:32:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:33:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:33:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:33:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.29s (batch: 4.32s, save: 8.97s)	[pipeline.py: 300]
+05/10 14:33:13 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
+  episode_total: mean=196.50s, total=196.50s, count=1, min=196501.4ms, max=196501.4ms
+  sensor_polling: mean=490.2ms, total=147.06s, count=300, min=447.4ms, max=709.3ms
+  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8972.5ms, max=8972.5ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=15.6ms, max=30.8ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4319.9ms, max=4319.9ms
+  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
+  task_specific_sample: mean=503.0ms, total=503.0ms, count=1, min=503.0ms, max=503.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=411.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:33:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:33:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:33:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:33:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:33:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:33:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:33:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008099m	[env.py: 870]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:33:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93417647  0.67872928  0.00809918] yaw=-167.5deg	[env.py: 1019]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68936237  0.47493719  0.00809918] yaw=187.8deg	[env.py: 1019]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.78377112  0.67012814  0.00809918] yaw=-175.4deg	[env.py: 1019]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:33:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=276.3ms, total=276.3ms	[env.py: 1075]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.679, 0.008)	[env.py: 1079]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
+05/10 14:33:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
+05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:33:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:33:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:33:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:33:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:33:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:33:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:33:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:33:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.366[m] 94.479[deg]	[grasp_sample.py: 539]
+05/10 14:33:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:33:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:33:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:33:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:33:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:33:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:33:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:33:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:34:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:34:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:34:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:34:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:34:18 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:34:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:34:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:34:42 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/10 14:34:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:34:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:34:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.36s (batch: 4.30s, save: 9.07s)	[pipeline.py: 300]
+05/10 14:34:56 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s:
+  episode_total: mean=190.52s, total=190.52s, count=1, min=190515.5ms, max=190515.5ms
+  sensor_polling: mean=487.8ms, total=142.93s, count=293, min=460.5ms, max=834.5ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9066.2ms, max=9066.2ms
+  physics_step: mean=22.7ms, total=6.64s, count=293, min=16.6ms, max=32.5ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4297.3ms, max=4297.3ms
+  task_sampling: mean=503.9ms, total=503.9ms, count=1, min=503.9ms, max=503.9ms
+  task_specific_sample: mean=500.0ms, total=500.0ms, count=1, min=500.0ms, max=500.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=443.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:34:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:34:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:34:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:34:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:34:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:34:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:34:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:34:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:34:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:34:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017434m	[env.py: 870]
+05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:34:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:34:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18606042  0.95908229  0.01743426] yaw=-136.6deg	[env.py: 1019]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9435368   0.4003814   0.01743426] yaw=182.0deg	[env.py: 1019]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94126091  0.7906858   0.01743426] yaw=-149.9deg	[env.py: 1019]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:34:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms	[env.py: 1075]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.186, 0.959, 0.017)	[env.py: 1079]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg	[env.py: 1082]
+05/10 14:34:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.703m	[env.py: 1086]
+05/10 14:34:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:34:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:34:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:34:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:34:58 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:34:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:34:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:34:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:34:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:34:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:34:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.302[m] 90.256[deg]	[grasp_sample.py: 539]
+05/10 14:34:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:34:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:34:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:35:20 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:35:21 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:35:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:35:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:35:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:35:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:35:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:35:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:35:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:35:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:35:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:35:50 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:35:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:35:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:35:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.13s (batch: 4.60s, save: 8.53s)	[pipeline.py: 300]
+05/10 14:35:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:35:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:35:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.91s (batch: 4.18s, save: 8.73s)	[pipeline.py: 300]
+05/10 14:35:57 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.95s:
+  episode_total: mean=177.25s, total=354.50s, count=2, min=162309.4ms, max=192190.2ms
+  sensor_polling: mean=485.8ms, total=280.77s, count=578, min=446.3ms, max=844.8ms
+  physics_step: mean=22.3ms, total=12.87s, count=578, min=16.4ms, max=32.8ms
+  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8530.8ms, max=8530.8ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4603.3ms, max=4603.3ms
+  task_sampling: mean=476.3ms, total=952.7ms, count=2, min=438.5ms, max=514.1ms
+  task_specific_sample: mean=472.7ms, total=945.3ms, count=2, min=434.6ms, max=510.7ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.5ms, max=2.7ms
+  mj_forward_sync: mean=455.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:35:57 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
+  episode_total: mean=197.29s, total=197.29s, count=1, min=197293.2ms, max=197293.2ms
+  sensor_polling: mean=499.9ms, total=149.97s, count=300, min=449.1ms, max=819.7ms
+  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8726.9ms, max=8726.9ms
+  physics_step: mean=23.9ms, total=7.17s, count=300, min=16.5ms, max=31.6ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.9ms, max=4182.9ms
+  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
+  task_specific_sample: mean=402.9ms, total=402.9ms, count=1, min=402.9ms, max=402.9ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=446.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:35:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:35:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:35:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:35:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:35:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:35:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:35:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007702m	[env.py: 870]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:35:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99620103  1.32097789  0.00770178] yaw=-121.9deg	[env.py: 1019]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05134104  0.86434723  0.00770178] yaw=-150.2deg	[env.py: 1019]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:35:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:35:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:35:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:35:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:35:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:35:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:35:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015219m	[env.py: 870]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:35:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96141614  0.70340559  0.00770178] yaw=-169.4deg	[env.py: 1019]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:35:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.3ms	[env.py: 1075]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.321, 0.008)	[env.py: 1079]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.9 deg	[env.py: 1082]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m	[env.py: 1086]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13098431  1.19577288 -0.01521882] yaw=-119.7deg	[env.py: 1019]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73216577  0.68093173 -0.01521882] yaw=-158.3deg	[env.py: 1019]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:35:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.7ms, total=248.8ms	[env.py: 1075]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.131, 1.196, -0.015)	[env.py: 1079]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -119.7 deg	[env.py: 1082]
+05/10 14:35:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:35:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:35:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:35:59 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:36:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:36:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:36:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:36:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:36:00 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:36:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:36:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:36:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:36:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:36:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:36:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.537s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 14:36:01 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 14:36:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.796s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:36:03 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.471[m] 85.474[deg]	[grasp_sample.py: 539]
+05/10 14:36:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:36:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:36:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:36:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038324m	[env.py: 870]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94639114  0.34697009 -0.03832441] yaw=162.8deg	[env.py: 1019]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04735679  0.23419845 -0.03832441] yaw=153.4deg	[env.py: 1019]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03456748  0.70055342 -0.03832441] yaw=-157.4deg	[env.py: 1019]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.4ms	[env.py: 1075]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.347, -0.038)	[env.py: 1079]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
+05/10 14:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.768m	[env.py: 1086]
+05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:36:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:36:03 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:36:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:36:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:36:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:36:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:36:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:36:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.288[m] 81.968[deg]	[grasp_sample.py: 539]
+05/10 14:36:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:36:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:36:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:36:11 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:36:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:36:11 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/10 14:36:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:36:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:36:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.24s (batch: 4.29s, save: 8.95s)	[pipeline.py: 300]
+05/10 14:36:25 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
+  episode_total: mean=190.16s, total=190.16s, count=1, min=190164.7ms, max=190164.7ms
+  sensor_polling: mean=488.7ms, total=144.16s, count=295, min=455.0ms, max=681.2ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8948.3ms, max=8948.3ms
+  physics_step: mean=22.5ms, total=6.64s, count=295, min=16.4ms, max=31.9ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4288.2ms, max=4288.2ms
+  task_sampling: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms
+  task_specific_sample: mean=573.4ms, total=573.4ms, count=1, min=573.4ms, max=573.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=444.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:36:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:36:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:36:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:36:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:36:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:36:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:36:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012607m	[env.py: 870]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:36:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02800107  0.74212275 -0.01260679] yaw=-150.2deg	[env.py: 1019]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67419211  0.82398671 -0.01260679] yaw=-169.8deg	[env.py: 1019]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07674616  1.13075256 -0.01260679] yaw=-130.3deg	[env.py: 1019]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:36:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.6ms	[env.py: 1075]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.742, -0.013)	[env.py: 1079]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg	[env.py: 1082]
+05/10 14:36:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.723m	[env.py: 1086]
+05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:36:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:36:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:36:27 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:36:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:36:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:36:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:36:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.600s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:36:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.287[m] 83.214[deg]	[grasp_sample.py: 539]
+05/10 14:36:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:36:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:36:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:36:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:36:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:36:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:36:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:36:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:36:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:37:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:37:05 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 14:37:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:37:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:37:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:37:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:37:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:37:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:37:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.645[deg]	[grasp_sample.py: 539]
+05/10 14:37:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:37:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:37:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:37:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:37:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:37:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:37:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:37:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:37:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.779s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:37:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]	[grasp_sample.py: 539]
+05/10 14:37:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:37:34 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:37:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:37:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:37:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:37:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:37:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:37:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:37:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038666m	[env.py: 870]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:37:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82987378  0.66938852  0.03866634] yaw=-160.9deg	[env.py: 1019]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12425888  0.90465122  0.03866634] yaw=-149.3deg	[env.py: 1019]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9136454   0.80075683  0.03866634] yaw=-161.4deg	[env.py: 1019]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:37:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.8ms, total=252.9ms	[env.py: 1075]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.669, 0.039)	[env.py: 1079]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
+05/10 14:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:37:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:37:36 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:37:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:37:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:37:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:37:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:37:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:37:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 93.631[deg]	[grasp_sample.py: 539]
+05/10 14:37:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:37:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:37:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:38:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:38:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:38:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:38:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:38:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.564s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:38:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.172[deg]	[grasp_sample.py: 539]
+05/10 14:38:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:38:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:38:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:38:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:38:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:38:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:38:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:38:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:38:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:38:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:38:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:38:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:38:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:38:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.795s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 14:38:40 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 14:38:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:38:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:38:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:38:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:38:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:38:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:38:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002606m	[env.py: 870]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:38:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98120549  0.27533694 -0.00260556] yaw=171.5deg	[env.py: 1019]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77272815  0.03458072 -0.00260556] yaw=164.0deg	[env.py: 1019]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:38:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms	[env.py: 1075]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.275, -0.003)	[env.py: 1079]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg	[env.py: 1082]
+05/10 14:38:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.750m	[env.py: 1086]
+05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:38:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:38:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:38:43 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:38:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:38:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:38:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:38:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:38:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:38:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.354[m] 93.129[deg]	[grasp_sample.py: 539]
+05/10 14:38:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:38:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:38:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:38:53 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:39:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:39:14 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:39:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:39:14 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/10 14:39:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:39:25 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:39:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:39:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:39:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:39:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:39:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.57s (batch: 4.25s, save: 8.33s)	[pipeline.py: 300]
+05/10 14:39:27 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.45s:
+  episode_total: mean=180.73s, total=180.73s, count=1, min=180734.6ms, max=180734.6ms
+  sensor_polling: mean=491.0ms, total=136.51s, count=278, min=467.2ms, max=763.3ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8325.9ms, max=8325.9ms
+  physics_step: mean=22.7ms, total=6.30s, count=278, min=16.2ms, max=83.8ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.5ms, max=4247.5ms
+  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
+  task_specific_sample: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=485.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:39:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:39:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:39:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:39:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:39:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:39:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:39:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020273m	[env.py: 870]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:39:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01622299  0.73026119  0.02027251] yaw=-169.3deg	[env.py: 1019]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00297186  0.70286383  0.02027251] yaw=-152.9deg	[env.py: 1019]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02887967  0.74812847  0.02027251] yaw=-168.7deg	[env.py: 1019]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.3ms, total=173.3ms	[env.py: 1075]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.730, 0.020)	[env.py: 1079]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.3 deg	[env.py: 1082]
+05/10 14:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.730m	[env.py: 1086]
+05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:39:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:39:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:39:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:39:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:39:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:39:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:39:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:39:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:39:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.336[m] 96.185[deg]	[grasp_sample.py: 539]
+05/10 14:39:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:39:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:39:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:39:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:39:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:39:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:39:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.30s (batch: 4.29s, save: 9.01s)	[pipeline.py: 300]
+05/10 14:39:39 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.11s:
+  episode_total: mean=109.25s, total=218.51s, count=2, min=2291.9ms, max=216214.7ms
+  sensor_polling: mean=503.2ms, total=150.96s, count=300, min=461.8ms, max=942.3ms
+  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9012.0ms, max=9012.0ms
+  physics_step: mean=23.0ms, total=6.91s, count=300, min=16.7ms, max=33.4ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4291.2ms, max=4291.2ms
+  task_sampling: mean=556.9ms, total=1.11s, count=2, min=509.2ms, max=604.5ms
+  task_specific_sample: mean=553.4ms, total=1.11s, count=2, min=506.2ms, max=600.6ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=438.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:39:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:39:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:39:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:39:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:39:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:39:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:39:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047996m	[env.py: 870]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:39:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7152007   0.72413304  0.04799573] yaw=-160.7deg	[env.py: 1019]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78837347  1.0413213   0.04799573] yaw=-151.7deg	[env.py: 1019]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97122827  0.71199552  0.04799573] yaw=-157.0deg	[env.py: 1019]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:39:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.3ms, total=123.4ms	[env.py: 1075]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.724, 0.048)	[env.py: 1079]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg	[env.py: 1082]
+05/10 14:39:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:39:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:39:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:39:41 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:39:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:39:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:39:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:39:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:39:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:39:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 94.028[deg]	[grasp_sample.py: 539]
+05/10 14:39:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:39:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:39:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:40:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:40:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:14 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:40:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:40:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:40:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:40:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:40:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:40:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:40:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.539[deg]	[grasp_sample.py: 539]
+05/10 14:40:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:40:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:40:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:40:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:40:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:40:38 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:40:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:40:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:40:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:40:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:40:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:40:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:40:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:40:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.49s (batch: 4.38s, save: 9.11s)	[pipeline.py: 300]
+05/10 14:40:52 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
+  episode_total: mean=176.31s, total=352.62s, count=2, min=156538.8ms, max=196078.6ms
+  sensor_polling: mean=492.4ms, total=281.15s, count=571, min=455.2ms, max=908.0ms
+  physics_step: mean=22.5ms, total=12.83s, count=571, min=16.6ms, max=34.0ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9112.4ms, max=9112.4ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.6ms, max=4379.6ms
+  task_sampling: mean=538.9ms, total=1.08s, count=2, min=519.6ms, max=558.2ms
+  task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=515.1ms, max=553.4ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.0ms, max=2.9ms
+  mj_forward_sync: mean=467.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:40:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:40:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:40:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:40:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:40:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:40:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:40:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:40:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048367m	[env.py: 870]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:40:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94208699  0.32712818 -0.04836731] yaw=178.6deg	[env.py: 1019]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.844587    0.43306064 -0.04836731] yaw=177.3deg	[env.py: 1019]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67235512  0.1475797  -0.04836731] yaw=165.4deg	[env.py: 1019]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:40:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.9ms	[env.py: 1075]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.327, -0.048)	[env.py: 1079]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg	[env.py: 1082]
+05/10 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
+05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:40:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:40:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:40:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:40:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:40:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:40:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:40:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:40:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.361[m] 88.493[deg]	[grasp_sample.py: 539]
+05/10 14:40:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:40:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:40:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:40:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:41:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:41:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:41:46 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:41:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:42:01 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:42:10 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:42:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:42:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:42:18 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:42:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:42:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:42:23 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/10 14:42:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:42:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:42:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.56s (batch: 4.58s, save: 8.98s)	[pipeline.py: 300]
+05/10 14:42:24 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.06s:
+  episode_total: mean=191.44s, total=382.89s, count=2, min=161306.8ms, max=221582.0ms
+  sensor_polling: mean=487.0ms, total=282.94s, count=581, min=442.6ms, max=881.8ms
+  physics_step: mean=23.1ms, total=13.40s, count=581, min=15.9ms, max=34.9ms
+  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8978.9ms, max=8978.9ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4577.2ms, max=4577.2ms
+  task_sampling: mean=531.5ms, total=1.06s, count=2, min=507.4ms, max=555.6ms
+  task_specific_sample: mean=526.9ms, total=1.05s, count=2, min=503.4ms, max=550.3ms
+  scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=1.8ms, max=3.6ms
+  mj_forward_sync: mean=656.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:42:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:42:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:42:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:42:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040164m	[env.py: 870]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91860807  0.6837335  -0.04016364] yaw=-154.2deg	[env.py: 1019]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98049687  1.07987155 -0.04016364] yaw=-139.1deg	[env.py: 1019]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97498158  0.12472045 -0.04016364] yaw=147.8deg	[env.py: 1019]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:42:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.5ms, total=140.5ms	[env.py: 1075]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.684, -0.040)	[env.py: 1079]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/10 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m	[env.py: 1086]
+05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:42:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:42:26 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:42:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:42:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:42:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:42:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:42:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:42:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.385[m] 85.977[deg]	[grasp_sample.py: 539]
+05/10 14:42:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:42:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:42:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:42:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:42:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 14.21s (batch: 4.21s, save: 10.00s)	[pipeline.py: 300]
+05/10 14:42:37 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s:
+  episode_total: mean=188.57s, total=188.57s, count=1, min=188567.1ms, max=188567.1ms
+  sensor_polling: mean=490.6ms, total=141.29s, count=288, min=455.0ms, max=692.6ms
+  save_trajectories: mean=10.00s, total=10.00s, count=1, min=9997.3ms, max=9997.3ms
+  physics_step: mean=23.2ms, total=6.68s, count=288, min=17.1ms, max=35.3ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.0ms, max=4211.0ms
+  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
+  task_specific_sample: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=433.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:42:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:42:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:42:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:42:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:42:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014618m	[env.py: 870]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68837046  0.40970926 -0.01461789] yaw=178.3deg	[env.py: 1019]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80869465  0.83185284 -0.01461789] yaw=-154.2deg	[env.py: 1019]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86752704  0.34859691 -0.01461789] yaw=167.4deg	[env.py: 1019]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:42:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.1ms	[env.py: 1075]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.410, -0.015)	[env.py: 1079]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.3 deg	[env.py: 1082]
+05/10 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:42:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:42:40 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:42:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:42:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:42:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:42:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:42:40 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:42:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:42:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:42:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:42:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.579[m] 90.968[deg]	[grasp_sample.py: 539]
+05/10 14:42:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:42:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:42:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:42:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:42:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:42:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.60s (batch: 4.00s, save: 8.60s)	[pipeline.py: 300]
+05/10 14:42:53 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
+  episode_total: mean=192.42s, total=192.42s, count=1, min=192418.3ms, max=192418.3ms
+  sensor_polling: mean=486.7ms, total=146.00s, count=300, min=453.4ms, max=782.1ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.1ms, max=8598.1ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=15.9ms, max=33.1ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.5ms, max=3998.5ms
+  task_sampling: mean=414.1ms, total=414.1ms, count=1, min=414.1ms, max=414.1ms
+  task_specific_sample: mean=410.1ms, total=410.1ms, count=1, min=410.1ms, max=410.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:42:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:42:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:42:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:42:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:42:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:42:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:42:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010917m	[env.py: 870]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:42:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89600913  0.07261128  0.01091664] yaw=159.2deg	[env.py: 1019]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97630165  1.09410924  0.01091664] yaw=-139.7deg	[env.py: 1019]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91390666  1.21154717  0.01091664] yaw=-148.1deg	[env.py: 1019]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:42:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms	[env.py: 1075]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.073, 0.011)	[env.py: 1079]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg	[env.py: 1082]
+05/10 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:42:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:42:55 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:42:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:42:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:42:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:42:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:42:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:42:56 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.470[m] 87.830[deg]	[grasp_sample.py: 539]
+05/10 14:42:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:42:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:42:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:43:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:43:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:43:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:43:30 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:43:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:43:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:43:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:43:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:43:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:43:53 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:43:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:43:53 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/10 14:43:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:44:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:44:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:44:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.09s (batch: 4.34s, save: 8.75s)	[pipeline.py: 300]
+05/10 14:44:07 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.60s:
+  episode_total: mean=193.72s, total=193.72s, count=1, min=193724.3ms, max=193724.3ms
+  sensor_polling: mean=496.9ms, total=145.59s, count=293, min=455.8ms, max=860.6ms
+  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8749.9ms, max=8749.9ms
+  physics_step: mean=24.2ms, total=7.08s, count=293, min=15.9ms, max=36.8ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4340.7ms, max=4340.7ms
+  task_sampling: mean=595.0ms, total=595.0ms, count=1, min=595.0ms, max=595.0ms
+  task_specific_sample: mean=590.8ms, total=590.8ms, count=1, min=590.8ms, max=590.8ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=444.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:44:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:44:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:44:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:44:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:44:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:44:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:44:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028981m	[env.py: 870]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:44:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86825003  0.17066027 -0.02898124] yaw=148.1deg	[env.py: 1019]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02683912  1.27200356 -0.02898124] yaw=-138.6deg	[env.py: 1019]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.64644395  0.62389012 -0.02898124] yaw=-171.9deg	[env.py: 1019]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:44:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms	[env.py: 1075]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.171, -0.029)	[env.py: 1079]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.1 deg	[env.py: 1082]
+05/10 14:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:44:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:44:09 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:44:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:44:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:44:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:44:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:44:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:44:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 79.009[deg]	[grasp_sample.py: 539]
+05/10 14:44:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:44:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:44:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:44:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:44:58 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:45:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:45:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:45:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:45:15 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:45:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:45:21 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:45:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:45:21 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 14:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:45:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:45:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:45:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:45:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:45:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:45:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:45:24 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.114[deg]	[grasp_sample.py: 539]
+05/10 14:45:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:45:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:45:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:45:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:45:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:45:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:45:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.27s (batch: 4.19s, save: 9.08s)	[pipeline.py: 300]
+05/10 14:45:34 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s:
+  episode_total: mean=188.89s, total=188.89s, count=1, min=188893.3ms, max=188893.3ms
+  sensor_polling: mean=477.3ms, total=142.72s, count=299, min=444.5ms, max=731.4ms
+  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9076.9ms, max=9076.9ms
+  physics_step: mean=21.9ms, total=6.54s, count=299, min=15.7ms, max=31.4ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.7ms, max=4190.7ms
+  task_sampling: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms
+  task_specific_sample: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=503.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:45:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:45:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:45:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:45:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:45:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:45:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:45:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035315m	[env.py: 870]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:45:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64235004  0.6695952   0.03531469] yaw=-167.3deg	[env.py: 1019]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91748042  1.11715826  0.03531469] yaw=-141.0deg	[env.py: 1019]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92882063  0.88918645  0.03531469] yaw=-150.3deg	[env.py: 1019]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:45:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.1ms	[env.py: 1075]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.670, 0.035)	[env.py: 1079]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg	[env.py: 1082]
+05/10 14:45:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:45:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:45:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:45:37 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:45:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:45:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:45:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:45:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:45:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 14:45:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:45:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:45:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:45:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.662[m] 94.505[deg]	[grasp_sample.py: 539]
+05/10 14:45:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:45:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:45:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:45:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:45:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:45:46 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:45:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:45:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:45:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.78s (batch: 4.91s, save: 8.87s)	[pipeline.py: 300]
+05/10 14:45:51 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.53s:
+  episode_total: mean=192.25s, total=192.25s, count=1, min=192250.3ms, max=192250.3ms
+  sensor_polling: mean=482.2ms, total=144.66s, count=300, min=450.0ms, max=643.3ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8869.2ms, max=8869.2ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=16.4ms, max=30.8ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4910.1ms, max=4910.1ms
+  task_sampling: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms
+  task_specific_sample: mean=522.3ms, total=522.3ms, count=1, min=522.3ms, max=522.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=466.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:45:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:45:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:45:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:45:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:45:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:45:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:45:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039477m	[env.py: 870]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:45:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13657809  1.09979939 -0.03947692] yaw=-122.6deg	[env.py: 1019]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73445149  0.90373671 -0.03947692] yaw=-167.8deg	[env.py: 1019]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95759567  0.13257738 -0.03947692] yaw=159.8deg	[env.py: 1019]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:45:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.2ms, total=175.2ms	[env.py: 1075]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.137, 1.100, -0.039)	[env.py: 1079]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.6 deg	[env.py: 1082]
+05/10 14:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:45:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:45:54 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:45:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:45:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:45:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:45:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:45:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:45:55 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.448[m] 94.278[deg]	[grasp_sample.py: 539]
+05/10 14:45:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:45:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:45:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:46:08 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:46:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:46:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:46:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:46:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:46:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.84s (batch: 4.39s, save: 8.46s)	[pipeline.py: 300]
+05/10 14:46:22 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.45s:
+  episode_total: mean=206.86s, total=206.86s, count=1, min=206856.9ms, max=206856.9ms
+  sensor_polling: mean=492.3ms, total=147.69s, count=300, min=459.7ms, max=745.7ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.5ms, max=8455.5ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=15.0ms, max=67.6ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4389.0ms, max=4389.0ms
+  task_sampling: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms
+  task_specific_sample: mean=444.3ms, total=444.3ms, count=1, min=444.3ms, max=444.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=430.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:46:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:46:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:46:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:46:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043753m	[env.py: 870]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97863391  1.13654014  0.04375263] yaw=-138.5deg	[env.py: 1019]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89901587  0.53250508  0.04375263] yaw=-184.8deg	[env.py: 1019]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81839762  0.19170031  0.04375263] yaw=159.2deg	[env.py: 1019]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:46:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.1ms, total=85.1ms	[env.py: 1075]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.979, 1.137, 0.044)	[env.py: 1079]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg	[env.py: 1082]
+05/10 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:46:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:46:24 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:46:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:46:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:46:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:46:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:46:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.774s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:46:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.516[m] 83.118[deg]	[grasp_sample.py: 539]
+05/10 14:46:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:46:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:46:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:46:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:46:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:46:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:46:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:46:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:46:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:46:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:46:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:46:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:46:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:46:43 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:46:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.240[deg]	[grasp_sample.py: 539]
+05/10 14:46:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:46:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:46:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:46:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:46:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:46:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:46:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:46:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:46:59 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:47:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:47:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:47:21 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:47:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:47:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:47:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:47:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:47:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:47:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:47:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 13.32s (batch: 4.45s, save: 8.87s)	[pipeline.py: 300]
+05/10 14:47:35 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.53s:
+  episode_total: mean=206.49s, total=206.49s, count=1, min=206492.6ms, max=206492.6ms
+  sensor_polling: mean=497.3ms, total=149.20s, count=300, min=454.8ms, max=804.0ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8874.6ms, max=8874.6ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=14.8ms, max=40.3ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4446.0ms, max=4446.0ms
+  task_sampling: mean=529.6ms, total=529.6ms, count=1, min=529.6ms, max=529.6ms
+  task_specific_sample: mean=525.7ms, total=525.7ms, count=1, min=525.7ms, max=525.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:47:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:47:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:47:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:47:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:47:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:47:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:47:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013990m	[env.py: 870]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:47:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94111771  0.2792047   0.01399007] yaw=176.5deg	[env.py: 1019]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92634904  0.78002253  0.01399007] yaw=-155.3deg	[env.py: 1019]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04438286  1.0654504   0.01399007] yaw=-138.3deg	[env.py: 1019]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:47:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.4ms	[env.py: 1075]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.279, 0.014)	[env.py: 1079]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.5 deg	[env.py: 1082]
+05/10 14:47:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
+05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:47:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:47:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:47:38 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:47:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:47:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:47:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:47:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:47:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:47:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.334[m] 85.326[deg]	[grasp_sample.py: 539]
+05/10 14:47:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:47:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:47:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:14 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:48:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:48:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:48:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:48:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:48:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:48:22 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.736s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:48:22 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.779[deg]	[grasp_sample.py: 539]
+05/10 14:48:24 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:48:26 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/10 14:48:26 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/10 14:48:26 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
+05/10 14:48:26 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4666.86s
+  House averages:
+  episode_total: mean=140.13s, total=2522.27s, count=18, min=178.3ms, max=206451.3ms
+  sensor_polling: mean=483.2ms, total=1884.61s, count=3900, min=433.8ms, max=838.7ms
+  save_trajectories: mean=8.83s, total=97.08s, count=11, min=8284.0ms, max=9997.3ms
+  physics_step: mean=22.6ms, total=87.96s, count=3900, min=15.6ms, max=83.8ms
+  save_batch_prep: mean=4.31s, total=47.36s, count=11, min=3827.0ms, max=4910.1ms
+  task_sampling: mean=703.0ms, total=11.25s, count=16, min=382.2ms, max=3896.5ms
+  task_specific_sample: mean=458.0ms, total=8.24s, count=18, min=172.1ms, max=672.5ms
+  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
+  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
+  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
+  task_sampling_failed: mean=181.0ms, total=362.1ms, count=2, min=178.3ms, max=183.8ms
+  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
+  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
+  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.2ms, total=39.7ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=467.1us, total=8.4ms, count=18, min=0.4ms, max=0.9ms
+  policy_setup: mean=20.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 14:48:26 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 14:48:26 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4666.86s
+  Worker averages:
+  episode_total: mean=140.13s, total=2522.27s, count=18, min=178.3ms, max=206451.3ms
+  sensor_polling: mean=483.2ms, total=1884.61s, count=3900, min=433.8ms, max=838.7ms
+  save_trajectories: mean=8.83s, total=97.08s, count=11, min=8284.0ms, max=9997.3ms
+  physics_step: mean=22.6ms, total=87.96s, count=3900, min=15.6ms, max=83.8ms
+  save_batch_prep: mean=4.31s, total=47.36s, count=11, min=3827.0ms, max=4910.1ms
+  task_sampling: mean=703.0ms, total=11.25s, count=16, min=382.2ms, max=3896.5ms
+  task_specific_sample: mean=458.0ms, total=8.24s, count=18, min=172.1ms, max=672.5ms
+  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
+  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
+  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
+  task_sampling_failed: mean=181.0ms, total=362.1ms, count=2, min=178.3ms, max=183.8ms
+  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
+  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
+  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.2ms, total=39.7ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=467.1us, total=8.4ms, count=18, min=0.4ms, max=0.9ms
+  policy_setup: mean=20.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 14:48:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:48:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 14:48:29 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
+05/10 14:48:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 14:48:35 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:48:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:48:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:48:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:48:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:48:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:48:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:48:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:48:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:48:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:48:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 11.91s (batch: 4.04s, save: 7.88s)	[pipeline.py: 300]
+05/10 14:48:48 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.54s:
+  episode_total: mean=191.58s, total=191.58s, count=1, min=191584.7ms, max=191584.7ms
+  sensor_polling: mean=489.2ms, total=146.76s, count=300, min=451.6ms, max=765.6ms
+  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7876.0ms, max=7876.0ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.3ms, max=32.7ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4037.6ms, max=4037.6ms
+  task_sampling: mean=542.9ms, total=542.9ms, count=1, min=542.9ms, max=542.9ms
+  task_specific_sample: mean=538.5ms, total=538.5ms, count=1, min=538.5ms, max=538.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=484.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:48:48 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:48:48 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.845[deg]	[grasp_sample.py: 539]
+05/10 14:48:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:48:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:48:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:48:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:48:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:48:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048929m	[env.py: 870]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03589347  1.22923157 -0.0489295 ] yaw=-126.2deg	[env.py: 1019]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77711352  0.7059697  -0.0489295 ] yaw=-165.8deg	[env.py: 1019]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90467479  0.22625358 -0.0489295 ] yaw=170.3deg	[env.py: 1019]
+05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:48:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.5ms	[env.py: 1075]
+05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.229, -0.049)	[env.py: 1079]
+05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.2 deg	[env.py: 1082]
+05/10 14:48:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/10 14:48:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:48:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:48:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:48:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:48:50 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:48:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:48:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:48:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:48:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:48:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.798s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:48:53 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.607[m] 88.091[deg]	[grasp_sample.py: 539]
+05/10 14:48:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:48:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:48:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:49:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:08 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:49:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:49:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:49:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:49:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:49:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:49:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.568[deg]	[grasp_sample.py: 539]
+05/10 14:49:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:49:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:49:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:49:29 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:49:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:49:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:49:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:49:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:49:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:49:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:49:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.51s (batch: 4.26s, save: 8.25s)	[pipeline.py: 300]
+05/10 14:49:42 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.39s:
+  episode_total: mean=199.07s, total=199.07s, count=1, min=199073.6ms, max=199073.6ms
+  sensor_polling: mean=475.1ms, total=142.54s, count=300, min=428.7ms, max=731.6ms
+  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8254.0ms, max=8254.0ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=15.4ms, max=46.0ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.9ms, max=4259.9ms
+  task_sampling: mean=385.1ms, total=385.1ms, count=1, min=385.1ms, max=385.1ms
+  task_specific_sample: mean=381.6ms, total=381.6ms, count=1, min=381.6ms, max=381.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=405.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:49:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:49:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:49:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:49:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:49:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:49:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:49:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:49:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047469m	[env.py: 870]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:49:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01541936  0.8555137  -0.04746936] yaw=-155.4deg	[env.py: 1019]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98916372  0.57554387 -0.04746936] yaw=-183.5deg	[env.py: 1019]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90397745  1.13141531 -0.04746936] yaw=-132.7deg	[env.py: 1019]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.7ms	[env.py: 1075]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.856, -0.047)	[env.py: 1079]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg	[env.py: 1082]
+05/10 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:49:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:49:44 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:49:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:49:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:49:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:49:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:49:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 99.417[deg]	[grasp_sample.py: 539]
+05/10 14:49:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:49:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:49:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:49:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:49:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:50:04 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 14:50:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:50:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:50:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:50:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:50:05 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:50:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.651[deg]	[grasp_sample.py: 539]
+05/10 14:50:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:50:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:50:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:50:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:50:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:50:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:50:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:50:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:50:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:50:46 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:51:08 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:51:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:51:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:51:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:51:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:51:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:51:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:51:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.68s (batch: 4.21s, save: 8.47s)	[pipeline.py: 300]
+05/10 14:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:51:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:51:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:51:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:51:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:51:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s:
+  episode_total: mean=224.29s, total=224.29s, count=1, min=224291.1ms, max=224291.1ms
+  sensor_polling: mean=476.1ms, total=142.84s, count=300, min=441.3ms, max=742.6ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8469.4ms, max=8469.4ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=13.1ms, max=36.0ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.7ms, max=4213.7ms
+  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
+  task_specific_sample: mean=484.5ms, total=484.5ms, count=1, min=484.5ms, max=484.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:51:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.713s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:51:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.093[m] 0.792[deg]	[grasp_sample.py: 539]
+05/10 14:51:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:51:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:51:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:51:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:51:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:51:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:51:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:51:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041555m	[env.py: 870]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:51:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95544721  0.89367978 -0.04155475] yaw=-150.0deg	[env.py: 1019]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96929981  1.19142222 -0.04155475] yaw=-146.5deg	[env.py: 1019]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.82116976  0.52878201 -0.04155475] yaw=-176.6deg	[env.py: 1019]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:51:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms	[env.py: 1075]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.894, -0.042)	[env.py: 1079]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg	[env.py: 1082]
+05/10 14:51:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:51:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:51:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:51:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:51:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:51:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:51:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:51:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:51:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:51:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:51:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:51:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 88.868[deg]	[grasp_sample.py: 539]
+05/10 14:51:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:51:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:51:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:51:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:51:34 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 14:51:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.43s:
+  episode_total: mean=165.01s, total=165.01s, count=1, min=165008.7ms, max=165008.7ms
+  sensor_polling: mean=468.6ms, total=140.58s, count=300, min=420.4ms, max=814.2ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=15.7ms, max=32.3ms
+  task_sampling: mean=427.6ms, total=427.6ms, count=1, min=427.6ms, max=427.6ms
+  task_specific_sample: mean=424.0ms, total=424.0ms, count=1, min=424.0ms, max=424.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=410.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:51:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:51:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:51:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:51:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:51:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:51:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:51:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029318m	[env.py: 870]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:51:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85614341  0.89880259 -0.02931802] yaw=-156.2deg	[env.py: 1019]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88844757  0.15064232 -0.02931802] yaw=167.5deg	[env.py: 1019]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81690903  0.60588697 -0.02931802] yaw=-172.2deg	[env.py: 1019]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:51:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.9ms, total=107.9ms	[env.py: 1075]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.899, -0.029)	[env.py: 1079]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.2 deg	[env.py: 1082]
+05/10 14:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
+05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:51:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:51:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:51:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:51:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:51:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:51:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:51:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:51:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.510[m] 87.538[deg]	[grasp_sample.py: 539]
+05/10 14:51:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:51:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:51:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:52:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:52:13 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:52:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:52:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:52:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:52:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:52:36 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:52:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:52:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:52:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:52:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:52:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:52:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.56s (batch: 3.99s, save: 8.57s)	[pipeline.py: 300]
+05/10 14:52:49 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
+  episode_total: mean=184.66s, total=184.66s, count=1, min=184663.5ms, max=184663.5ms
+  sensor_polling: mean=463.9ms, total=139.16s, count=300, min=434.8ms, max=745.4ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8569.8ms, max=8569.8ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=18.6ms, max=30.7ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.8ms, max=3992.8ms
+  task_sampling: mean=419.8ms, total=419.8ms, count=1, min=419.8ms, max=419.8ms
+  task_specific_sample: mean=415.7ms, total=415.7ms, count=1, min=415.7ms, max=415.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:52:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:52:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:52:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:52:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:52:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:52:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:52:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048248m	[env.py: 870]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:52:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82212884  0.5330823  -0.04824771] yaw=-175.7deg	[env.py: 1019]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99932792  0.87625488 -0.04824771] yaw=-145.8deg	[env.py: 1019]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90665121  0.26023344 -0.04824771] yaw=175.8deg	[env.py: 1019]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:52:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=158.7ms, total=158.7ms	[env.py: 1075]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.533, -0.048)	[env.py: 1079]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg	[env.py: 1082]
+05/10 14:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:52:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:52:51 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:52:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:52:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:52:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:52:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:52:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:52:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.428[m] 86.762[deg]	[grasp_sample.py: 539]
+05/10 14:52:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:52:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:52:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:53:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:53:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:53:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:53:55 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:54:00 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:54:17 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:54:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:54:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:54:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:54:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:54:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:54:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:54:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:54:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.73s (batch: 4.28s, save: 8.46s)	[pipeline.py: 300]
+05/10 14:54:30 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
+  episode_total: mean=187.11s, total=187.11s, count=1, min=187114.1ms, max=187114.1ms
+  sensor_polling: mean=470.8ms, total=141.24s, count=300, min=435.9ms, max=771.3ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8457.0ms, max=8457.0ms
+  physics_step: mean=21.6ms, total=6.48s, count=300, min=18.8ms, max=33.6ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.5ms, max=4276.5ms
+  task_sampling: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms
+  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=418.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:54:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:54:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:54:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:54:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:54:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:54:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:54:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002977m	[env.py: 870]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:54:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95900184  0.7792959   0.00297682] yaw=-160.2deg	[env.py: 1019]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.23991714  1.05451995  0.00297682] yaw=-121.8deg	[env.py: 1019]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71841063  0.66829297  0.00297682] yaw=-176.1deg	[env.py: 1019]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:54:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.9ms, total=105.9ms	[env.py: 1075]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.779, 0.003)	[env.py: 1079]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
+05/10 14:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:54:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:54:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:54:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:54:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:54:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:54:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:54:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.597s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:54:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.392[m] 87.125[deg]	[grasp_sample.py: 539]
+05/10 14:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:54:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:54:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:54:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:54:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:54:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.65s (batch: 3.90s, save: 8.75s)	[pipeline.py: 300]
+05/10 14:54:34 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
+  episode_total: mean=178.31s, total=178.31s, count=1, min=178312.1ms, max=178312.1ms
+  sensor_polling: mean=446.4ms, total=133.93s, count=300, min=422.6ms, max=741.6ms
+  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8750.8ms, max=8750.8ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=15.8ms, max=29.8ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3903.3ms, max=3903.3ms
+  task_sampling: mean=368.6ms, total=368.6ms, count=1, min=368.6ms, max=368.6ms
+  task_specific_sample: mean=365.0ms, total=365.0ms, count=1, min=365.0ms, max=365.0ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=432.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:54:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:54:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:54:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:54:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:54:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:54:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:54:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013912m	[env.py: 870]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:54:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67793815  0.1859976  -0.01391195] yaw=160.3deg	[env.py: 1019]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10391666  1.12199953 -0.01391195] yaw=-131.4deg	[env.py: 1019]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:54:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.1ms, total=187.2ms	[env.py: 1075]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.678, 0.186, -0.014)	[env.py: 1079]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg	[env.py: 1082]
+05/10 14:54:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:54:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:54:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:54:36 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:54:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:54:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:54:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:54:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:54:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.018s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:54:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.633[m] 91.481[deg]	[grasp_sample.py: 539]
+05/10 14:54:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:54:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:54:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:55:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:55:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:55:20 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:55:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:55:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:55:42 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:55:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 14:55:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:55:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:55:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:55:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:55:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:55:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 12.46s (batch: 4.11s, save: 8.36s)	[pipeline.py: 300]
+05/10 14:55:55 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=184.73s, total=184.73s, count=1, min=184734.9ms, max=184734.9ms
+  sensor_polling: mean=461.9ms, total=138.58s, count=300, min=424.6ms, max=752.7ms
+  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8356.8ms, max=8356.8ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=16.1ms, max=38.0ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4107.8ms, max=4107.8ms
+  task_sampling: mean=450.2ms, total=450.2ms, count=1, min=450.2ms, max=450.2ms
+  task_specific_sample: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:55:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:55:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:55:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:55:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:55:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:55:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:55:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012420m	[env.py: 870]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:55:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05874849  1.07540036 -0.01242026] yaw=-136.5deg	[env.py: 1019]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82287514  0.52664149 -0.01242026] yaw=-167.6deg	[env.py: 1019]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98719447  1.09050792 -0.01242026] yaw=-135.3deg	[env.py: 1019]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:55:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.5ms	[env.py: 1075]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.075, -0.012)	[env.py: 1079]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.5 deg	[env.py: 1082]
+05/10 14:55:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:55:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:55:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:55:57 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:55:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:55:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:55:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:55:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:55:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:55:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.433[m] 84.322[deg]	[grasp_sample.py: 539]
+05/10 14:55:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:55:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:55:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:56:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:56:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:56:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:57:00 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:57:02 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:57:22 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:57:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 14:57:22 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 14:57:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 14:57:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 14:57:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 14:57:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:57:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:57:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 11.91s (batch: 4.07s, save: 7.84s)	[pipeline.py: 300]
+05/10 14:57:34 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s:
+  episode_total: mean=182.78s, total=182.78s, count=1, min=182783.1ms, max=182783.1ms
+  sensor_polling: mean=464.4ms, total=138.85s, count=299, min=425.5ms, max=780.9ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7844.3ms, max=7844.3ms
+  physics_step: mean=21.3ms, total=6.37s, count=299, min=15.9ms, max=61.4ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4065.0ms, max=4065.0ms
+  task_sampling: mean=408.4ms, total=408.4ms, count=1, min=408.4ms, max=408.4ms
+  task_specific_sample: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:57:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 14:57:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 14:57:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 11.75s (batch: 3.98s, save: 7.77s)	[pipeline.py: 300]
+05/10 14:57:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:57:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:57:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:57:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:57:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:57:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:57:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004876m	[env.py: 870]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:57:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73702545 -0.04230718 -0.00487609] yaw=159.7deg	[env.py: 1019]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77181166  0.22294962 -0.00487609] yaw=171.2deg	[env.py: 1019]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02525252  0.90440586 -0.00487609] yaw=-144.0deg	[env.py: 1019]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:57:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.9ms, total=196.0ms	[env.py: 1075]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, -0.042, -0.005)	[env.py: 1079]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
+05/10 14:57:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:57:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:57:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:57:36 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:57:36 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
+  episode_total: mean=180.37s, total=180.37s, count=1, min=180369.7ms, max=180369.7ms
+  sensor_polling: mean=449.3ms, total=134.79s, count=300, min=405.3ms, max=722.2ms
+  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.4ms, max=7769.4ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=18.3ms, max=33.3ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.3ms, max=3979.3ms
+  task_sampling: mean=472.9ms, total=472.9ms, count=1, min=472.9ms, max=472.9ms
+  task_specific_sample: mean=469.2ms, total=469.2ms, count=1, min=469.2ms, max=469.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=449.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 14:57:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:57:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:57:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:57:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:57:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:57:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:57:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:57:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:57:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:57:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:57:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011070m	[env.py: 870]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:57:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76531663  0.54643994 -0.01107041] yaw=-174.0deg	[env.py: 1019]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02427755  0.69886144 -0.01107041] yaw=-151.9deg	[env.py: 1019]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01058704  0.78430932 -0.01107041] yaw=-159.6deg	[env.py: 1019]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:57:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.9ms, total=102.9ms	[env.py: 1075]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.546, -0.011)	[env.py: 1079]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg	[env.py: 1082]
+05/10 14:57:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:57:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:57:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:57:38 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:57:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:57:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:57:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:57:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:57:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.969s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:57:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.696[m] 98.445[deg]	[grasp_sample.py: 539]
+05/10 14:57:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:57:39 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.465[m] 82.719[deg]	[grasp_sample.py: 539]
+05/10 14:57:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:57:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:57:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:57:40 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:57:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 14:57:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 14:57:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:57:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 14:57:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 14:57:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 14:57:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044591m	[env.py: 870]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m	[env.py: 871]
+05/10 14:57:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius	[env.py: 907]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92352401  0.23366161 -0.04459072] yaw=155.5deg	[env.py: 1019]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02124422  0.23782475 -0.04459072] yaw=155.3deg	[env.py: 1019]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06467265  1.20860982 -0.04459072] yaw=-138.8deg	[env.py: 1019]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 14:57:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.6ms, total=179.6ms	[env.py: 1075]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.234, -0.045)	[env.py: 1079]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.5 deg	[env.py: 1082]
+05/10 14:57:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 14:57:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 14:57:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 14:57:42 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 14:57:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 14:57:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:57:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:57:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:57:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:57:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 96.384[deg]	[grasp_sample.py: 539]
+05/10 14:57:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 14:57:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 14:57:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 14:58:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 14:58:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 14:58:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 14:58:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 14:58:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 14:58:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 14:58:09 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.367[deg]	[grasp_sample.py: 539]
+05/10 14:58:10 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 14:58:12 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/10 14:58:12 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/10 14:58:12 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
+05/10 14:58:12 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5767.08s
+  House averages:
+  episode_total: mean=172.71s, total=3108.81s, count=18, min=2291.9ms, max=216214.7ms
+  sensor_polling: mean=478.8ms, total=2357.87s, count=4925, min=378.9ms, max=942.3ms
+  physics_step: mean=22.5ms, total=110.78s, count=4925, min=15.0ms, max=67.6ms
+  save_trajectories: mean=8.88s, total=106.52s, count=12, min=8254.0ms, max=11018.3ms
+  save_batch_prep: mean=4.29s, total=51.52s, count=12, min=3992.8ms, max=4695.2ms
+  task_sampling: mean=725.7ms, total=13.06s, count=18, min=385.1ms, max=4848.4ms
+  task_specific_sample: mean=500.0ms, total=9.00s, count=18, min=381.6ms, max=850.1ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
+  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
+  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
+  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
+  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.3ms, max=3.7ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  mj_forward_sync: mean=486.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 14:58:12 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 14:58:12 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5767.08s
+  Worker averages:
+  episode_total: mean=172.71s, total=3108.81s, count=18, min=2291.9ms, max=216214.7ms
+  sensor_polling: mean=478.8ms, total=2357.87s, count=4925, min=378.9ms, max=942.3ms
+  physics_step: mean=22.5ms, total=110.78s, count=4925, min=15.0ms, max=67.6ms
+  save_trajectories: mean=8.88s, total=106.52s, count=12, min=8254.0ms, max=11018.3ms
+  save_batch_prep: mean=4.29s, total=51.52s, count=12, min=3992.8ms, max=4695.2ms
+  task_sampling: mean=725.7ms, total=13.06s, count=18, min=385.1ms, max=4848.4ms
+  task_specific_sample: mean=500.0ms, total=9.00s, count=18, min=381.6ms, max=850.1ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
+  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
+  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
+  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
+  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.3ms, max=3.7ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  mj_forward_sync: mean=486.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 14:58:14 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 14:58:14 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
+05/10 14:58:14 INFO: Success rate: 92.31%	[pipeline.py: 1492]
+05/10 14:58:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:58:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:58:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:58:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 14:58:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:58:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 14:59:44 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 14:59:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:00:04 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 15:00:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:00:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:00:12 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_001	[pipeline.py: 1174]
+05/10 15:00:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:00:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:00:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:00:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 15:00:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 10.57s (batch: 3.30s, save: 7.27s)	[pipeline.py: 300]
+05/10 15:00:15 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.36s:
+  episode_total: mean=157.52s, total=157.52s, count=1, min=157519.9ms, max=157519.9ms
+  sensor_polling: mean=390.0ms, total=117.00s, count=300, min=361.6ms, max=687.6ms
+  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7268.7ms, max=7268.7ms
+  physics_step: mean=19.6ms, total=5.87s, count=300, min=16.7ms, max=39.0ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3302.6ms, max=3302.6ms
+  task_sampling: mean=362.1ms, total=362.1ms, count=1, min=362.1ms, max=362.1ms
+  task_specific_sample: mean=358.4ms, total=358.4ms, count=1, min=358.4ms, max=358.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=444.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:00:17 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/10 15:00:17 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/10 15:00:17 INFO: [Worker 0] Worker 0 completed house 1: 12/14 successful episodes	[pipeline.py: 1323]
+05/10 15:00:17 INFO: [Worker 0] [PROFILE] House 1 complete: 12/14 successful, 14 episodes, total_time=5962.38s
+  House averages:
+  episode_total: mean=179.63s, total=3233.32s, count=18, min=133724.2ms, max=221582.0ms
+  sensor_polling: mean=471.1ms, total=2435.30s, count=5169, min=361.6ms, max=881.8ms
+  physics_step: mean=22.2ms, total=114.56s, count=5169, min=14.1ms, max=67.4ms
+  save_trajectories: mean=8.43s, total=101.14s, count=12, min=7268.7ms, max=9076.9ms
+  save_batch_prep: mean=4.15s, total=49.77s, count=12, min=3302.6ms, max=4700.7ms
+  task_sampling: mean=660.5ms, total=11.89s, count=18, min=362.1ms, max=3910.8ms
+  task_specific_sample: mean=469.0ms, total=8.44s, count=18, min=358.4ms, max=776.3ms
+  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
+  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
+  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
+  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
+  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.6ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
+  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
+  mj_forward_sync: mean=504.3us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 15:00:17 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 15:00:17 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5962.38s
+  Worker averages:
+  episode_total: mean=179.63s, total=3233.32s, count=18, min=133724.2ms, max=221582.0ms
+  sensor_polling: mean=471.1ms, total=2435.30s, count=5169, min=361.6ms, max=881.8ms
+  physics_step: mean=22.2ms, total=114.56s, count=5169, min=14.1ms, max=67.4ms
+  save_trajectories: mean=8.43s, total=101.14s, count=12, min=7268.7ms, max=9076.9ms
+  save_batch_prep: mean=4.15s, total=49.77s, count=12, min=3302.6ms, max=4700.7ms
+  task_sampling: mean=660.5ms, total=11.89s, count=18, min=362.1ms, max=3910.8ms
+  task_specific_sample: mean=469.0ms, total=8.44s, count=18, min=358.4ms, max=776.3ms
+  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
+  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
+  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
+  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
+  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.6ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
+  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
+  mj_forward_sync: mean=504.3us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 15:00:19 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 15:00:19 INFO: Success count: 12, Total count: 14	[pipeline.py: 1491]
+05/10 15:00:19 INFO: Success rate: 85.71%	[pipeline.py: 1492]
+05/10 15:00:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:00:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001	[save_utils.py: 785]
+05/10 15:00:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_001 in 10.77s (batch: 3.12s, save: 7.65s)	[pipeline.py: 300]
+05/10 15:00:23 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.88s:
+  episode_total: mean=82.91s, total=165.83s, count=2, min=4147.1ms, max=161678.7ms
+  sensor_polling: mean=400.6ms, total=120.19s, count=300, min=364.5ms, max=670.3ms
+  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7647.8ms, max=7647.8ms
+  physics_step: mean=19.9ms, total=5.96s, count=300, min=14.5ms, max=23.4ms
+  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3123.6ms, max=3123.6ms
+  task_sampling: mean=442.4ms, total=884.8ms, count=2, min=432.6ms, max=452.2ms
+  task_specific_sample: mean=438.7ms, total=877.3ms, count=2, min=428.9ms, max=448.5ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=530.3us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:00:24 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/10 15:00:24 WARNING: [Worker 0] No trajectory data to save for chunk_001	[pipeline.py: 234]
+05/10 15:00:24 INFO: [Worker 0] Worker 0 completed house 1: 15/15 successful episodes	[pipeline.py: 1323]
+05/10 15:00:24 INFO: [Worker 0] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5967.73s
+  House averages:
+  episode_total: mean=180.07s, total=3241.18s, count=18, min=4147.1ms, max=224291.1ms
+  sensor_polling: mean=478.7ms, total=2391.85s, count=4997, min=364.5ms, max=908.0ms
+  save_trajectories: mean=8.67s, total=130.08s, count=15, min=7647.8ms, max=9518.2ms
+  physics_step: mean=22.5ms, total=112.32s, count=4997, min=13.1ms, max=79.8ms
+  save_batch_prep: mean=4.27s, total=63.99s, count=15, min=3123.6ms, max=4613.5ms
+  task_sampling: mean=670.5ms, total=12.07s, count=18, min=389.6ms, max=3743.6ms
+  task_specific_sample: mean=495.0ms, total=8.91s, count=18, min=385.0ms, max=652.7ms
+  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
+  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
+  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
+  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
+  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
+  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
+  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.4ms, max=3.1ms
+  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  mj_forward_sync: mean=467.4us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 15:00:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 15:00:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5967.73s
+  Worker averages:
+  episode_total: mean=180.07s, total=3241.18s, count=18, min=4147.1ms, max=224291.1ms
+  sensor_polling: mean=478.7ms, total=2391.85s, count=4997, min=364.5ms, max=908.0ms
+  save_trajectories: mean=8.67s, total=130.08s, count=15, min=7647.8ms, max=9518.2ms
+  physics_step: mean=22.5ms, total=112.32s, count=4997, min=13.1ms, max=79.8ms
+  save_batch_prep: mean=4.27s, total=63.99s, count=15, min=3123.6ms, max=4613.5ms
+  task_sampling: mean=670.5ms, total=12.07s, count=18, min=389.6ms, max=3743.6ms
+  task_specific_sample: mean=495.0ms, total=8.91s, count=18, min=385.0ms, max=652.7ms
+  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
+  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
+  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
+  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
+  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
+  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
+  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.4ms, max=3.1ms
+  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  mj_forward_sync: mean=467.4us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 15:00:26 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 15:00:26 INFO: Success count: 15, Total count: 15	[pipeline.py: 1491]
+05/10 15:00:26 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_001/shard_1_of_4.log b/fridge_7/chunk_001/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..eba964099912de91955cfdc29c54cd4f7989ed44
--- /dev/null
+++ b/fridge_7/chunk_001/shard_1_of_4.log
@@ -0,0 +1,1855 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_001
+  shard=1/4  seed=20101  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:05:53 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 14:05:53 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 14:05:53 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_001'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 14:05:53 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7dd88b4c1650>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20101,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:05:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 14:05:53 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 14:05:53 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 138369000079760 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 138369000079760 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 138369000079760 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 138369000079760 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 138369003369936 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138369003369936 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138369003356880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138369003356880 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138369003356880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138369003356880 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138369003369936 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138369003369936 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138369006826576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138369006826576 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138369006825616 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138369006825616 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 138369006825616 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138369006825616 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138369006826576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138369006826576 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 14:05:53 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f8eb1110320 at 0x7dd88b9e6ad0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f8eb1111a90 at 0x7dd88b9f2210>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f8eb1111a90 at 0x7dd88b978a10>
+[05/10 14:05:56 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:05:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:05:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:05:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:05:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:05:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:05:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:05:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:05:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:05:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)
+[05/10 14:05:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:05:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:05:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011514m
+[05/10 14:05:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:05:56 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 14:05:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07567045  1.09650577 -0.01151361] yaw=-138.9deg
+[05/10 14:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:05:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04602455  1.19521146 -0.01151361] yaw=-138.6deg
+[05/10 14:05:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:05:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:05:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=14.9ms, retries=177.7ms, total=192.7ms
+[05/10 14:05:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.076, 1.097, -0.012)
+[05/10 14:05:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.9 deg
+[05/10 14:05:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
+[05/10 14:05:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:05:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:05:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:05:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:05:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:05:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 14:06:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.691s
+[05/10 14:06:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:06:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:06:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 14:06:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.721s, found feasible grasp: True
+[05/10 14:06:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.473[m] 88.425[deg]
+[05/10 14:06:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:07:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:07:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:07:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:08:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:08:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:08:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:08:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:08:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/10 14:08:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.632s, found feasible grasp: True
+[05/10 14:08:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.778[deg]
+[05/10 14:08:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:08:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:08:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:08:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:08:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:08:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:08:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:08:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:08:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:08:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:08:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:08:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.024m, effective arm-mount z=0.836m (base_body_z=-0.024m, pedestal_h=0.860m)
+[05/10 14:08:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:08:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:08:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.023508m
+[05/10 14:08:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:08:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:08:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65319517  0.23237847 -0.02350847] yaw=164.6deg
+[05/10 14:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72042623  0.42141276 -0.02350847] yaw=183.0deg
+[05/10 14:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.84320424  1.04817665 -0.02350847] yaw=-153.5deg
+[05/10 14:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:08:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:08:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.6ms, total=163.7ms
+[05/10 14:08:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.232, -0.024)
+[05/10 14:08:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg
+[05/10 14:08:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m
+[05/10 14:08:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:08:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:08:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:08:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:08:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:08:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 14:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 14:08:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:08:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:08:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 14:08:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.356s, found feasible grasp: True
+[05/10 14:08:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.674[m] 101.224[deg]
+[05/10 14:08:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:10:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:11:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 14:11:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:11:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:11:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:12:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 14:12:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:12:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 11.99s (batch: 3.43s, save: 8.55s)
+[05/10 14:12:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.34s:
+  episode_total: mean=187.41s, total=374.83s, count=2, min=181968.0ms, max=192860.4ms
+  sensor_polling: mean=464.4ms, total=267.48s, count=576, min=435.7ms, max=684.0ms
+  physics_step: mean=22.3ms, total=12.85s, count=576, min=15.7ms, max=49.2ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8554.5ms, max=8554.5ms
+  task_sampling: mean=2.17s, total=4.34s, count=2, min=426.8ms, max=3910.8ms
+  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3434.6ms, max=3434.6ms
+  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
+  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
+  task_specific_sample: mean=478.0ms, total=956.0ms, count=2, min=423.2ms, max=532.8ms
+  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
+  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
+  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
+  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.2ms, max=1.9ms
+  mj_forward_sync: mean=623.6us, total=1.2ms, count=2, min=0.4ms, max=0.8ms
+  policy_setup: mean=26.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:12:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:12:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:12:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:12:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:12:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:12:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:12:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:12:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:12:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:12:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 14:12:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:12:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:12:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035267m
+[05/10 14:12:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:12:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:12:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:12:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74395368  0.59498521  0.03526688] yaw=-174.7deg
+[05/10 14:12:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:12:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70476241  0.85947836  0.03526688] yaw=-161.8deg
+[05/10 14:12:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:12:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86302923  0.41363316  0.03526688] yaw=176.3deg
+[05/10 14:12:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:12:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:12:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.9ms, total=250.9ms
+[05/10 14:12:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.595, 0.035)
+[05/10 14:12:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg
+[05/10 14:12:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.965m
+[05/10 14:12:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:12:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:12:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:12:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:12:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 14:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
+[05/10 14:12:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:12:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:12:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 14:12:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True
+[05/10 14:12:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.547[m] 98.523[deg]
+[05/10 14:12:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:13:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:14:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:15:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:15:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:15:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:15:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:15:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:15:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.93s (batch: 4.47s, save: 8.46s)
+[05/10 14:15:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.55s:
+  episode_total: mean=188.15s, total=188.15s, count=1, min=188147.8ms, max=188147.8ms
+  sensor_polling: mean=475.8ms, total=142.73s, count=300, min=451.5ms, max=844.0ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8458.9ms, max=8458.9ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=16.5ms, max=30.6ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4472.0ms, max=4472.0ms
+  task_sampling: mean=554.4ms, total=554.4ms, count=1, min=554.4ms, max=554.4ms
+  task_specific_sample: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=493.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:15:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:15:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:15:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:15:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:15:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:15:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:15:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:15:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:15:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:15:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
+[05/10 14:15:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:15:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:15:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003836m
+[05/10 14:15:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:15:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:15:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:15:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:15:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07203263  1.02068654  0.00383565] yaw=-141.0deg
+[05/10 14:15:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:15:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70530599  0.83474812  0.00383565] yaw=-166.7deg
+[05/10 14:15:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:15:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85919908  0.66731778  0.00383565] yaw=-178.5deg
+[05/10 14:15:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:15:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:15:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.9ms, total=93.9ms
+[05/10 14:15:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.021, 0.004)
+[05/10 14:15:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg
+[05/10 14:15:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.829m
+[05/10 14:15:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:15:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:15:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:15:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:15:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 14:15:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 14:15:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:15:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:15:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 14:15:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
+[05/10 14:15:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.375[m] 84.383[deg]
+[05/10 14:15:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:15:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:15:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:15:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:16:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:17:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:17:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:17:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:17:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:17:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:17:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:17:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
+[05/10 14:17:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True
+[05/10 14:17:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.248[deg]
+[05/10 14:17:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:17:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:17:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:17:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:17:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:17:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:17:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:17:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:17:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:17:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:17:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:17:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
+[05/10 14:17:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:17:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:17:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038383m
+[05/10 14:17:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:17:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:17:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:17:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.60971682  0.5733481   0.03838331] yaw=-174.7deg
+[05/10 14:17:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:18:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80833115  0.63032623  0.03838331] yaw=-172.9deg
+[05/10 14:18:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:18:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80321012  0.0394085   0.03838331] yaw=148.3deg
+[05/10 14:18:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:18:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:18:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=387.9ms, total=387.9ms
+[05/10 14:18:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.610, 0.573, 0.038)
+[05/10 14:18:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg
+[05/10 14:18:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.096m
+[05/10 14:18:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:18:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:18:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:18:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:18:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:18:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 14:18:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 14:18:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:18:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:18:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 14:18:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.208s, found feasible grasp: True
+[05/10 14:18:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.659[m] 89.172[deg]
+[05/10 14:18:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:19:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:19:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:20:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:20:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:20:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:20:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:21:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:21:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:21:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.84s (batch: 4.56s, save: 8.28s)
+[05/10 14:21:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=1.19s:
+  episode_total: mean=174.32s, total=348.64s, count=2, min=156498.6ms, max=192143.2ms
+  sensor_polling: mean=479.9ms, total=275.46s, count=574, min=444.5ms, max=844.8ms
+  physics_step: mean=22.4ms, total=12.84s, count=574, min=15.7ms, max=33.6ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8275.3ms, max=8275.3ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4559.7ms, max=4559.7ms
+  task_sampling: mean=594.5ms, total=1.19s, count=2, min=408.7ms, max=780.3ms
+  task_specific_sample: mean=590.6ms, total=1.18s, count=2, min=404.8ms, max=776.3ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.9ms, max=2.5ms
+  mj_forward_sync: mean=541.1us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:21:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:21:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:21:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:21:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:21:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:21:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:21:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:21:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
+[05/10 14:21:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:21:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:21:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035715m
+[05/10 14:21:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:21:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:21:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:21:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17456842  1.00305834  0.03571494] yaw=-140.7deg
+[05/10 14:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9937009   0.64250918  0.03571494] yaw=-172.3deg
+[05/10 14:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92664416  1.21694769  0.03571494] yaw=-139.1deg
+[05/10 14:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:21:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:21:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.9ms, total=117.9ms
+[05/10 14:21:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.175, 1.003, 0.036)
+[05/10 14:21:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg
+[05/10 14:21:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.742m
+[05/10 14:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:21:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:21:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:21:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 14:21:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
+[05/10 14:21:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:21:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:21:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 14:21:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True
+[05/10 14:21:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.314[m] 86.943[deg]
+[05/10 14:21:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:21:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:21:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:23:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:23:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:23:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:23:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:23:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:23:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:23:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:23:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps
+[05/10 14:23:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.806s, found feasible grasp: True
+[05/10 14:23:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.354[deg]
+[05/10 14:23:39 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:23:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:23:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:23:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:23:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:23:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:23:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:23:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:23:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:23:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:23:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:23:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)
+[05/10 14:23:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:23:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:23:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014895m
+[05/10 14:23:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:23:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:23:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:23:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89084892  0.33911941 -0.01489474] yaw=174.0deg
+[05/10 14:23:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:23:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04754105  0.91572204 -0.01489474] yaw=-153.0deg
+[05/10 14:23:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.66163747  0.48259597 -0.01489474] yaw=-170.2deg
+[05/10 14:23:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:23:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:23:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms
+[05/10 14:23:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.891, 0.339, -0.015)
+[05/10 14:23:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.0 deg
+[05/10 14:23:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
+[05/10 14:23:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:23:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:23:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:23:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:23:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:23:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 14:23:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 14:23:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:23:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:23:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 14:23:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
+[05/10 14:23:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.378[m] 89.484[deg]
+[05/10 14:23:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:23:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:23:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:24:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:24:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:24:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:26:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:26:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:26:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:26:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
+[05/10 14:26:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:26:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:26:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.33s (batch: 4.43s, save: 8.90s)
+[05/10 14:26:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.82s:
+  episode_total: mean=167.60s, total=335.20s, count=2, min=146130.6ms, max=189065.2ms
+  sensor_polling: mean=477.5ms, total=265.97s, count=557, min=445.3ms, max=805.4ms
+  physics_step: mean=22.7ms, total=12.62s, count=557, min=15.0ms, max=35.9ms
+  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8904.2ms, max=8904.2ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.6ms, max=4426.6ms
+  task_sampling: mean=411.3ms, total=822.6ms, count=2, min=391.4ms, max=431.2ms
+  task_specific_sample: mean=407.3ms, total=814.6ms, count=2, min=387.6ms, max=427.0ms
+  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.1ms, max=2.7ms
+  mj_forward_sync: mean=454.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:26:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:26:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:26:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:26:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:26:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:26:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:26:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:26:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:26:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:26:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:26:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 14:26:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:26:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:26:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007580m
+[05/10 14:26:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:26:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:26:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:26:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90995477  0.26413738  0.00757984] yaw=174.7deg
+[05/10 14:26:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04159775  0.24403971  0.00757984] yaw=162.0deg
+[05/10 14:26:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:26:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06960744  1.01922807  0.00757984] yaw=-146.4deg
+[05/10 14:26:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:26:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:26:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.1ms
+[05/10 14:26:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.264, 0.008)
+[05/10 14:26:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg
+[05/10 14:26:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.822m
+[05/10 14:26:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:26:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:26:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:26:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:26:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:26:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 14:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 14:26:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:26:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:26:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:26:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.469s, found feasible grasp: True
+[05/10 14:26:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.415[m] 94.698[deg]
+[05/10 14:26:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:27:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:27:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:28:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:28:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:28:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:28:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:28:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:28:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:28:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:28:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:28:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:28:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:28:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:28:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:28:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 14:28:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.595s, found feasible grasp: True
+[05/10 14:28:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.526[deg]
+[05/10 14:28:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:28:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:29:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:29:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:29:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:30:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:30:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:30:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:30:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:30:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:30:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.20s (batch: 4.70s, save: 8.50s)
+[05/10 14:30:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.42s:
+  episode_total: mean=210.91s, total=210.91s, count=1, min=210912.9ms, max=210912.9ms
+  sensor_polling: mean=487.0ms, total=146.09s, count=300, min=458.3ms, max=759.1ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8503.5ms, max=8503.5ms
+  physics_step: mean=21.8ms, total=6.55s, count=300, min=15.9ms, max=67.4ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4700.7ms, max=4700.7ms
+  task_sampling: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
+  task_specific_sample: mean=418.5ms, total=418.5ms, count=1, min=418.5ms, max=418.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=431.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:30:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:30:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:30:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:30:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:30:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:30:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:30:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:30:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:30:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:30:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:30:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 14:30:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:30:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:30:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029621m
+[05/10 14:30:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:30:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:30:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94631909  0.31345635  0.02962057] yaw=166.2deg
+[05/10 14:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69040675  0.41955552  0.02962057] yaw=182.9deg
+[05/10 14:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:30:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:30:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73251442  0.10641662  0.02962057] yaw=157.5deg
+[05/10 14:30:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:30:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:30:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.5ms, total=135.6ms
+[05/10 14:30:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.313, 0.030)
+[05/10 14:30:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.2 deg
+[05/10 14:30:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.775m
+[05/10 14:30:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:30:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:30:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:30:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:30:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:30:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 14:30:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 14:30:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:30:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:30:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:30:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.612s, found feasible grasp: True
+[05/10 14:30:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.298[m] 87.165[deg]
+[05/10 14:30:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:30:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:31:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:31:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:31:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:31:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:31:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:31:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:31:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:31:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps
+[05/10 14:31:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.438s, found feasible grasp: True
+[05/10 14:31:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.490[deg]
+[05/10 14:31:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:31:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:32:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:32:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:32:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:32:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:32:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:32:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:32:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 14:32:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:32:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:32:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
+[05/10 14:32:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.432s, found feasible grasp: True
+[05/10 14:32:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg]
+[05/10 14:32:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:32:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:32:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:32:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:32:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:32:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:32:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:32:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 14:32:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:32:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:32:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
+[05/10 14:32:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.430s, found feasible grasp: True
+[05/10 14:32:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.485[deg]
+[05/10 14:32:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:32:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:32:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:32:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:32:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 14:32:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False
+[05/10 14:32:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=False episode_total=0.45s:
+  episode_total: mean=133.72s, total=133.72s, count=1, min=133724.2ms, max=133724.2ms
+  sensor_polling: mean=488.4ms, total=88.89s, count=182, min=464.3ms, max=773.2ms
+  physics_step: mean=21.9ms, total=3.99s, count=182, min=14.1ms, max=34.3ms
+  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
+  task_specific_sample: mean=450.9ms, total=450.9ms, count=1, min=450.9ms, max=450.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=430.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:32:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:32:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:32:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:32:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:32:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:32:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:32:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:32:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:32:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:32:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:32:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.037m, effective arm-mount z=0.823m (base_body_z=-0.037m, pedestal_h=0.860m)
+[05/10 14:32:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:32:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:32:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.036635m
+[05/10 14:32:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:32:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:32:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:32:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65488628  0.60990802 -0.03663531] yaw=-176.9deg
+[05/10 14:32:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:32:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86793302  0.6301593  -0.03663531] yaw=-175.7deg
+[05/10 14:32:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:32:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:32:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:32:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:32:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6853906   0.26653787 -0.03663531] yaw=159.8deg
+[05/10 14:32:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:32:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:32:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms
+[05/10 14:32:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.655, 0.610, -0.037)
+[05/10 14:32:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.9 deg
+[05/10 14:32:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
+[05/10 14:32:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:32:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:32:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:32:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:32:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:32:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 14:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
+[05/10 14:32:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:32:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:32:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
+[05/10 14:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True
+[05/10 14:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.616[m] 88.715[deg]
+[05/10 14:32:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:33:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:33:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:35:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:35:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:35:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:35:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:35:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:35:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:35:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.91s (batch: 4.18s, save: 8.73s)
+[05/10 14:35:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.41s:
+  episode_total: mean=197.29s, total=197.29s, count=1, min=197293.2ms, max=197293.2ms
+  sensor_polling: mean=499.9ms, total=149.97s, count=300, min=449.1ms, max=819.7ms
+  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8726.9ms, max=8726.9ms
+  physics_step: mean=23.9ms, total=7.17s, count=300, min=16.5ms, max=31.6ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.9ms, max=4182.9ms
+  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
+  task_specific_sample: mean=402.9ms, total=402.9ms, count=1, min=402.9ms, max=402.9ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=446.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:35:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:35:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:35:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)
+[05/10 14:35:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:35:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:35:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015219m
+[05/10 14:35:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:35:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:35:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13098431  1.19577288 -0.01521882] yaw=-119.7deg
+[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73216577  0.68093173 -0.01521882] yaw=-158.3deg
+[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:35:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:35:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.7ms, total=248.8ms
+[05/10 14:35:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.131, 1.196, -0.015)
+[05/10 14:35:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.7 deg
+[05/10 14:35:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.914m
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:36:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:36:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 14:36:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 14:36:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:36:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:36:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 14:36:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.796s, found feasible grasp: True
+[05/10 14:36:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.471[m] 85.474[deg]
+[05/10 14:36:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:36:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:36:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:37:05 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 14:37:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:37:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:37:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:37:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
+[05/10 14:37:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.520s, found feasible grasp: True
+[05/10 14:37:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.645[deg]
+[05/10 14:37:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:37:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:37:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:38:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:38:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 14:38:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:38:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:38:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps
+[05/10 14:38:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.795s, found feasible grasp: False
+[05/10 14:38:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 14:38:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:38:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:38:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:38:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:38:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:38:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:38:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:38:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:38:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:38:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:38:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)
+[05/10 14:38:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:38:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:38:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002606m
+[05/10 14:38:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:38:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:38:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:38:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:38:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:38:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:38:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98120549  0.27533694 -0.00260556] yaw=171.5deg
+[05/10 14:38:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:38:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:38:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77272815  0.03458072 -0.00260556] yaw=164.0deg
+[05/10 14:38:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:38:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:38:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.5ms
+[05/10 14:38:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.981, 0.275, -0.003)
+[05/10 14:38:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.5 deg
+[05/10 14:38:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.750m
+[05/10 14:38:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:38:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:38:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:38:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:38:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:38:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 14:38:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
+[05/10 14:38:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:38:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:38:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 14:38:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True
+[05/10 14:38:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.354[m] 93.129[deg]
+[05/10 14:38:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:40:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:40:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:40:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:40:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:40:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:40:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:40:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:40:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:40:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:40:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 78 non-colliding grasps
+[05/10 14:40:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.550s, found feasible grasp: True
+[05/10 14:40:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.539[deg]
+[05/10 14:40:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:40:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:40:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:40:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:40:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:40:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:40:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:41:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:42:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:42:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:42:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:42:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:42:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:42:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.56s (batch: 4.58s, save: 8.98s)
+[05/10 14:42:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.06s:
+  episode_total: mean=191.44s, total=382.89s, count=2, min=161306.8ms, max=221582.0ms
+  sensor_polling: mean=487.0ms, total=282.94s, count=581, min=442.6ms, max=881.8ms
+  physics_step: mean=23.1ms, total=13.40s, count=581, min=15.9ms, max=34.9ms
+  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8978.9ms, max=8978.9ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4577.2ms, max=4577.2ms
+  task_sampling: mean=531.5ms, total=1.06s, count=2, min=507.4ms, max=555.6ms
+  task_specific_sample: mean=526.9ms, total=1.05s, count=2, min=503.4ms, max=550.3ms
+  scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=1.8ms, max=3.6ms
+  mj_forward_sync: mean=656.1us, total=1.3ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:42:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:42:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:42:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:42:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:42:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:42:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:42:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:42:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:42:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:42:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:42:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.040m, effective arm-mount z=0.820m (base_body_z=-0.040m, pedestal_h=0.860m)
+[05/10 14:42:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:42:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:42:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040164m
+[05/10 14:42:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:42:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:42:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:42:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91860807  0.6837335  -0.04016364] yaw=-154.2deg
+[05/10 14:42:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:42:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98049687  1.07987155 -0.04016364] yaw=-139.1deg
+[05/10 14:42:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:42:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97498158  0.12472045 -0.04016364] yaw=147.8deg
+[05/10 14:42:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:42:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:42:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.5ms, total=140.5ms
+[05/10 14:42:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.684, -0.040)
+[05/10 14:42:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg
+[05/10 14:42:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.809m
+[05/10 14:42:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:42:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:42:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:42:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:42:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:42:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 14:42:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 14:42:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:42:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:42:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 14:42:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True
+[05/10 14:42:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.385[m] 85.977[deg]
+[05/10 14:42:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:42:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:42:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:43:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:43:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:43:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:44:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:45:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:45:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:45:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
+[05/10 14:45:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:45:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:45:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.27s (batch: 4.19s, save: 9.08s)
+[05/10 14:45:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s:
+  episode_total: mean=188.89s, total=188.89s, count=1, min=188893.3ms, max=188893.3ms
+  sensor_polling: mean=477.3ms, total=142.72s, count=299, min=444.5ms, max=731.4ms
+  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9076.9ms, max=9076.9ms
+  physics_step: mean=21.9ms, total=6.54s, count=299, min=15.7ms, max=31.4ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4190.7ms, max=4190.7ms
+  task_sampling: mean=463.8ms, total=463.8ms, count=1, min=463.8ms, max=463.8ms
+  task_specific_sample: mean=459.7ms, total=459.7ms, count=1, min=459.7ms, max=459.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=503.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:45:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:45:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:45:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:45:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:45:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:45:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:45:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:45:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:45:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:45:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:45:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 14:45:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:45:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:45:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035315m
+[05/10 14:45:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:45:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:45:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:45:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:45:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:45:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.64235004  0.6695952   0.03531469] yaw=-167.3deg
+[05/10 14:45:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:45:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:45:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91748042  1.11715826  0.03531469] yaw=-141.0deg
+[05/10 14:45:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:45:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.92882063  0.88918645  0.03531469] yaw=-150.3deg
+[05/10 14:45:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:45:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:45:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.1ms
+[05/10 14:45:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.670, 0.035)
+[05/10 14:45:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.3 deg
+[05/10 14:45:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
+[05/10 14:45:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:45:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:45:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:45:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:45:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:45:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 14:45:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/10 14:45:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:45:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:45:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 14:45:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.818s, found feasible grasp: True
+[05/10 14:45:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.662[m] 94.505[deg]
+[05/10 14:45:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:46:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:46:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:47:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:48:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:48:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:48:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:48:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:48:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:48:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:48:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 11.91s (batch: 4.04s, save: 7.88s)
+[05/10 14:48:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.54s:
+  episode_total: mean=191.58s, total=191.58s, count=1, min=191584.7ms, max=191584.7ms
+  sensor_polling: mean=489.2ms, total=146.76s, count=300, min=451.6ms, max=765.6ms
+  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7876.0ms, max=7876.0ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.3ms, max=32.7ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4037.6ms, max=4037.6ms
+  task_sampling: mean=542.9ms, total=542.9ms, count=1, min=542.9ms, max=542.9ms
+  task_specific_sample: mean=538.5ms, total=538.5ms, count=1, min=538.5ms, max=538.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=484.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:48:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:48:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:48:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:48:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:48:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:48:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:48:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:48:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.049m, effective arm-mount z=0.811m (base_body_z=-0.049m, pedestal_h=0.860m)
+[05/10 14:48:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:48:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:48:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048929m
+[05/10 14:48:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:48:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:48:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03589347  1.22923157 -0.0489295 ] yaw=-126.2deg
+[05/10 14:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77711352  0.7059697  -0.0489295 ] yaw=-165.8deg
+[05/10 14:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:48:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90467479  0.22625358 -0.0489295 ] yaw=170.3deg
+[05/10 14:48:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:48:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:48:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.4ms, total=147.5ms
+[05/10 14:48:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.036, 1.229, -0.049)
+[05/10 14:48:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.2 deg
+[05/10 14:48:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
+[05/10 14:48:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:48:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:48:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:48:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:48:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:48:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 14:48:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 14:48:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:48:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:48:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:48:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.798s, found feasible grasp: True
+[05/10 14:48:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.607[m] 88.091[deg]
+[05/10 14:48:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:49:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:49:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:50:04 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 14:50:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:50:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:50:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:50:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
+[05/10 14:50:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.673s, found feasible grasp: True
+[05/10 14:50:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.651[deg]
+[05/10 14:50:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:50:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:50:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:50:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:50:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:51:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:51:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:51:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:51:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:51:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 14:51:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:51:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:51:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps
+[05/10 14:51:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.713s, found feasible grasp: True
+[05/10 14:51:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.093[m] 0.792[deg]
+[05/10 14:51:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:51:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:51:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:51:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:51:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False
+[05/10 14:51:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=False episode_total=0.43s:
+  episode_total: mean=165.01s, total=165.01s, count=1, min=165008.7ms, max=165008.7ms
+  sensor_polling: mean=468.6ms, total=140.58s, count=300, min=420.4ms, max=814.2ms
+  physics_step: mean=22.2ms, total=6.66s, count=300, min=15.7ms, max=32.3ms
+  task_sampling: mean=427.6ms, total=427.6ms, count=1, min=427.6ms, max=427.6ms
+  task_specific_sample: mean=424.0ms, total=424.0ms, count=1, min=424.0ms, max=424.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=410.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:51:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:51:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:51:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:51:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:51:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:51:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:51:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:51:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:51:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:51:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:51:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)
+[05/10 14:51:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:51:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:51:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.029318m
+[05/10 14:51:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:51:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:51:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85614341  0.89880259 -0.02931802] yaw=-156.2deg
+[05/10 14:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88844757  0.15064232 -0.02931802] yaw=167.5deg
+[05/10 14:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81690903  0.60588697 -0.02931802] yaw=-172.2deg
+[05/10 14:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:51:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:51:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.9ms, total=107.9ms
+[05/10 14:51:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.899, -0.029)
+[05/10 14:51:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.2 deg
+[05/10 14:51:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.943m
+[05/10 14:51:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:51:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:51:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:51:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:51:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:51:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 14:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 14:51:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:51:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:51:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:51:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True
+[05/10 14:51:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.510[m] 87.538[deg]
+[05/10 14:51:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:52:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:52:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:52:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:54:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:54:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:54:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:54:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:54:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:54:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:54:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.65s (batch: 3.90s, save: 8.75s)
+[05/10 14:54:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.37s:
+  episode_total: mean=178.31s, total=178.31s, count=1, min=178312.1ms, max=178312.1ms
+  sensor_polling: mean=446.4ms, total=133.93s, count=300, min=422.6ms, max=741.6ms
+  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8750.8ms, max=8750.8ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=15.8ms, max=29.8ms
+  save_batch_prep: mean=3.90s, total=3.90s, count=1, min=3903.3ms, max=3903.3ms
+  task_sampling: mean=368.6ms, total=368.6ms, count=1, min=368.6ms, max=368.6ms
+  task_specific_sample: mean=365.0ms, total=365.0ms, count=1, min=365.0ms, max=365.0ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=432.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:54:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:54:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:54:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:54:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:54:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:54:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:54:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:54:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:54:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:54:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:54:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.014m, effective arm-mount z=0.846m (base_body_z=-0.014m, pedestal_h=0.860m)
+[05/10 14:54:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:54:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:54:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.013912m
+[05/10 14:54:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:54:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:54:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:54:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:54:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67793815  0.1859976  -0.01391195] yaw=160.3deg
+[05/10 14:54:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:54:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:54:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:54:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:54:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.10391666  1.12199953 -0.01391195] yaw=-131.4deg
+[05/10 14:54:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:54:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:54:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.1ms, total=187.2ms
+[05/10 14:54:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.678, 0.186, -0.014)
+[05/10 14:54:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg
+[05/10 14:54:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.066m
+[05/10 14:54:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:54:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:54:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:54:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:54:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:54:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 14:54:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 14:54:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:54:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:54:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 14:54:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.018s, found feasible grasp: True
+[05/10 14:54:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.633[m] 91.481[deg]
+[05/10 14:54:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:54:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:54:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:55:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:55:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:55:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:57:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:57:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:57:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 14:57:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:57:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:57:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:57:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 11.75s (batch: 3.98s, save: 7.77s)
+[05/10 14:57:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
+  episode_total: mean=180.37s, total=180.37s, count=1, min=180369.7ms, max=180369.7ms
+  sensor_polling: mean=449.3ms, total=134.79s, count=300, min=405.3ms, max=722.2ms
+  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7769.4ms, max=7769.4ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=18.3ms, max=33.3ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3979.3ms, max=3979.3ms
+  task_sampling: mean=472.9ms, total=472.9ms, count=1, min=472.9ms, max=472.9ms
+  task_specific_sample: mean=469.2ms, total=469.2ms, count=1, min=469.2ms, max=469.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=449.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:57:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:57:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:57:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:57:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:57:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:57:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:57:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:57:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:57:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:57:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:57:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)
+[05/10 14:57:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:57:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:57:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011070m
+[05/10 14:57:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:57:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:57:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:57:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:57:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76531663  0.54643994 -0.01107041] yaw=-174.0deg
+[05/10 14:57:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:57:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02427755  0.69886144 -0.01107041] yaw=-151.9deg
+[05/10 14:57:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:57:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:57:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01058704  0.78430932 -0.01107041] yaw=-159.6deg
+[05/10 14:57:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:57:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:57:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.9ms, total=102.9ms
+[05/10 14:57:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.546, -0.011)
+[05/10 14:57:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.0 deg
+[05/10 14:57:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.939m
+[05/10 14:57:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:57:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:57:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:57:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:57:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:57:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 14:57:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 14:57:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:57:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:57:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 14:57:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
+[05/10 14:57:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.465[m] 82.719[deg]
+[05/10 14:57:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:58:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:58:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:58:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:59:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:00:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 15:00:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 1/4: 1 episodes
+[05/10 15:00:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:00:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:00:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 15:00:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 10.57s (batch: 3.30s, save: 7.27s)
+[05/10 15:00:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.36s:
+  episode_total: mean=157.52s, total=157.52s, count=1, min=157519.9ms, max=157519.9ms
+  sensor_polling: mean=390.0ms, total=117.00s, count=300, min=361.6ms, max=687.6ms
+  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7268.7ms, max=7268.7ms
+  physics_step: mean=19.6ms, total=5.87s, count=300, min=16.7ms, max=39.0ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3302.6ms, max=3302.6ms
+  task_sampling: mean=362.1ms, total=362.1ms, count=1, min=362.1ms, max=362.1ms
+  task_specific_sample: mean=358.4ms, total=358.4ms, count=1, min=358.4ms, max=358.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=444.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:00:17 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
+[05/10 15:00:17 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
+[05/10 15:00:17 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/14 successful episodes
+[05/10 15:00:17 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/14 successful, 14 episodes, total_time=5962.38s
+  House averages:
+  episode_total: mean=179.63s, total=3233.32s, count=18, min=133724.2ms, max=221582.0ms
+  sensor_polling: mean=471.1ms, total=2435.30s, count=5169, min=361.6ms, max=881.8ms
+  physics_step: mean=22.2ms, total=114.56s, count=5169, min=14.1ms, max=67.4ms
+  save_trajectories: mean=8.43s, total=101.14s, count=12, min=7268.7ms, max=9076.9ms
+  save_batch_prep: mean=4.15s, total=49.77s, count=12, min=3302.6ms, max=4700.7ms
+  task_sampling: mean=660.5ms, total=11.89s, count=18, min=362.1ms, max=3910.8ms
+  task_specific_sample: mean=469.0ms, total=8.44s, count=18, min=358.4ms, max=776.3ms
+  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
+  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
+  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
+  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
+  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.6ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
+  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
+  mj_forward_sync: mean=504.3us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:00:17 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 15:00:17 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5962.38s
+  Worker averages:
+  episode_total: mean=179.63s, total=3233.32s, count=18, min=133724.2ms, max=221582.0ms
+  sensor_polling: mean=471.1ms, total=2435.30s, count=5169, min=361.6ms, max=881.8ms
+  physics_step: mean=22.2ms, total=114.56s, count=5169, min=14.1ms, max=67.4ms
+  save_trajectories: mean=8.43s, total=101.14s, count=12, min=7268.7ms, max=9076.9ms
+  save_batch_prep: mean=4.15s, total=49.77s, count=12, min=3302.6ms, max=4700.7ms
+  task_sampling: mean=660.5ms, total=11.89s, count=18, min=362.1ms, max=3910.8ms
+  task_specific_sample: mean=469.0ms, total=8.44s, count=18, min=358.4ms, max=776.3ms
+  scene_load: mean=3.38s, total=3.38s, count=1, min=3375.1ms, max=3375.1ms
+  scene_env_create: mean=2.18s, total=2.18s, count=1, min=2180.3ms, max=2180.3ms
+  scene_compile: mean=1.07s, total=1.07s, count=1, min=1073.4ms, max=1073.4ms
+  compile_mujoco: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms
+  compile_xml_load: mean=311.5ms, total=311.5ms, count=1, min=311.5ms, max=311.5ms
+  scene_init: mean=68.2ms, total=68.2ms, count=1, min=68.2ms, max=68.2ms
+  scene_asset_install: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  scene_randomize: mean=2.3ms, total=41.7ms, count=18, min=1.2ms, max=3.6ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_robot_add: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  asset_install_grasps: mean=33.6ms, total=33.6ms, count=1, min=33.6ms, max=33.6ms
+  asset_install_objects: mean=14.4ms, total=14.4ms, count=1, min=14.4ms, max=14.4ms
+  mj_forward_sync: mean=504.3us, total=9.1ms, count=18, min=0.4ms, max=0.8ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=21.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:00:19 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 15:00:19 INFO pipeline.py:1491] Success count: 12, Total count: 14
+[05/10 15:00:19 INFO pipeline.py:1492] Success rate: 85.71%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_001
+==========================================
diff --git a/fridge_7/chunk_001/shard_2_of_4.log b/fridge_7/chunk_001/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..48a012762152a086e5a2d59fa05e0840e3ad0ad1
--- /dev/null
+++ b/fridge_7/chunk_001/shard_2_of_4.log
@@ -0,0 +1,1779 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_001
+  shard=2/4  seed=20102  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:05:53 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 14:05:53 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 14:05:53 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_001'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 14:05:53 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78f727fcd250>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20102,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:05:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 14:05:53 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 14:05:53 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 133002929519056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 133002929519056 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 133002929519056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 133002929519056 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 133002935997904 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 133002935997904 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 133002936007376 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 133002936007376 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 133002936007376 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 133002936007376 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 133002935997904 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 133002935997904 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 133002929619280 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 133002929619280 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 133002929619088 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 133002929619088 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 133002929619088 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 133002929619088 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 133002929619280 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 133002929619280 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 14:05:53 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 615e02585890 at 0x78f728d0ba10>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 615e025d3440 at 0x78f728d17450>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 615e025d3440 at 0x78f728c9d250>
+[05/10 14:05:56 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 14:05:56 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:05:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 14:05:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:05:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:05:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021447m
+[05/10 14:05:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:05:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 14:05:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.13020049  0.93740108  0.02144654] yaw=-148.5deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85542991  0.66821467  0.02144654] yaw=-171.8deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63845505  0.48750587  0.02144654] yaw=-189.1deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:05:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:05:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=25.9ms, retries=135.4ms, total=161.3ms
+[05/10 14:05:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.130, 0.937, 0.021)
+[05/10 14:05:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.5 deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.731m
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:05:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:05:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 14:06:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.056s
+[05/10 14:06:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:06:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:06:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 14:06:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.492s, found feasible grasp: True
+[05/10 14:06:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.297[m] 87.891[deg]
+[05/10 14:06:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:06:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:07:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:08:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:08:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:08:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:08:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:08:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:08:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 14:08:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.782s, found feasible grasp: True
+[05/10 14:08:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.389[deg]
+[05/10 14:08:58 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 417, in get_action
+    action = self.action_primitives[-1].get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:09:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:09:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:09:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:09:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:09:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:09:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:09:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:09:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:09:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:09:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:09:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 14:09:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:09:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:09:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028376m
+[05/10 14:09:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:09:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:09:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:09:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89959851  0.93973362  0.02837596] yaw=-149.8deg
+[05/10 14:09:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:09:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08894542  1.22452254  0.02837596] yaw=-118.7deg
+[05/10 14:09:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:09:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:09:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.5ms, total=238.6ms
+[05/10 14:09:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.940, 0.028)
+[05/10 14:09:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg
+[05/10 14:09:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.924m
+[05/10 14:09:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:09:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:09:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:09:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:09:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:09:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 14:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 14:09:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:09:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:09:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 14:09:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True
+[05/10 14:09:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.489[m] 87.697[deg]
+[05/10 14:09:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:09:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:09:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:09:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:09:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:10:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:11:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 14:11:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:11:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:11:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:12:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 14:12:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:12:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.96s (batch: 4.70s, save: 9.26s)
+[05/10 14:12:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=5.34s:
+  episode_total: mean=188.36s, total=376.72s, count=2, min=185557.6ms, max=191162.4ms
+  sensor_polling: mean=474.0ms, total=274.44s, count=579, min=435.6ms, max=734.4ms
+  physics_step: mean=22.4ms, total=12.96s, count=579, min=16.9ms, max=31.3ms
+  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.1ms, max=9263.1ms
+  task_sampling: mean=2.67s, total=5.34s, count=2, min=495.8ms, max=4848.4ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4695.2ms, max=4695.2ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
+  task_specific_sample: mean=671.6ms, total=1.34s, count=2, min=493.2ms, max=850.1ms
+  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
+  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
+  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
+  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=681.1us, total=1.4ms, count=2, min=0.4ms, max=0.9ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:12:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:12:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:12:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:12:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:12:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:12:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:12:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:12:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:12:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:12:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
+[05/10 14:12:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:12:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:12:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048967m
+[05/10 14:12:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:12:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:12:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:12:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73075596  0.025655    0.04896676] yaw=154.9deg
+[05/10 14:12:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:12:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90522028  0.48042069  0.04896676] yaw=174.7deg
+[05/10 14:12:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:12:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95926488  0.11418804  0.04896676] yaw=149.7deg
+[05/10 14:12:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:12:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:12:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.4ms
+[05/10 14:12:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.026, 0.049)
+[05/10 14:12:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.9 deg
+[05/10 14:12:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.073m
+[05/10 14:12:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:12:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:12:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:12:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:12:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 14:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 14:12:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:12:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:12:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 14:12:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.819s, found feasible grasp: True
+[05/10 14:12:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.664[m] 101.791[deg]
+[05/10 14:12:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:12:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:12:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:13:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:14:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:14:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:14:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:14:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:14:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:14:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:14:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:14:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:14:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps
+[05/10 14:14:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.450s, found feasible grasp: True
+[05/10 14:14:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.088[deg]
+[05/10 14:14:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:14:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:15:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False
+[05/10 14:15:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=False episode_total=0.49s:
+  episode_total: mean=169.06s, total=169.06s, count=1, min=169063.6ms, max=169063.6ms
+  sensor_polling: mean=479.6ms, total=143.87s, count=300, min=453.1ms, max=759.2ms
+  physics_step: mean=22.8ms, total=6.85s, count=300, min=15.2ms, max=31.6ms
+  task_sampling: mean=488.3ms, total=488.3ms, count=1, min=488.3ms, max=488.3ms
+  task_specific_sample: mean=484.1ms, total=484.1ms, count=1, min=484.1ms, max=484.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=448.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:15:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:15:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:15:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:15:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:15:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:15:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:15:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:15:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)
+[05/10 14:15:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:15:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:15:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.011141m
+[05/10 14:15:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:15:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:15:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84751969  0.86747897 -0.01114094] yaw=-160.9deg
+[05/10 14:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74676332  0.57139074 -0.01114094] yaw=-171.7deg
+[05/10 14:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9162073   0.49529128 -0.01114094] yaw=-179.0deg
+[05/10 14:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:15:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:15:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms
+[05/10 14:15:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.867, -0.011)
+[05/10 14:15:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg
+[05/10 14:15:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.938m
+[05/10 14:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:15:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:15:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:15:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 14:15:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 14:15:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:15:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:15:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 14:15:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.644s, found feasible grasp: True
+[05/10 14:15:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.511[m] 86.231[deg]
+[05/10 14:15:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:15:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:16:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:16:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:17:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:18:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:18:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:18:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:18:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:18:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:18:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.58s (batch: 4.38s, save: 9.20s)
+[05/10 14:18:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
+  episode_total: mean=191.77s, total=191.77s, count=1, min=191765.7ms, max=191765.7ms
+  sensor_polling: mean=476.0ms, total=142.79s, count=300, min=445.0ms, max=726.4ms
+  save_trajectories: mean=9.20s, total=9.20s, count=1, min=9201.5ms, max=9201.5ms
+  physics_step: mean=22.3ms, total=6.70s, count=300, min=16.0ms, max=49.0ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4378.3ms, max=4378.3ms
+  task_sampling: mean=394.1ms, total=394.1ms, count=1, min=394.1ms, max=394.1ms
+  task_specific_sample: mean=390.9ms, total=390.9ms, count=1, min=390.9ms, max=390.9ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=415.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:18:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:18:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:18:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:18:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:18:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:18:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:18:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:18:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:18:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:18:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 14:18:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:18:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:18:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031420m
+[05/10 14:18:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:18:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:18:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:18:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90537391  0.78232927  0.03142028] yaw=-166.5deg
+[05/10 14:18:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:18:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86572888  0.12055873  0.03142028] yaw=152.1deg
+[05/10 14:18:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:18:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:18:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.0ms, total=176.0ms
+[05/10 14:18:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.905, 0.782, 0.031)
+[05/10 14:18:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.5 deg
+[05/10 14:18:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.852m
+[05/10 14:18:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:18:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:18:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:18:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:18:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 14:18:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 14:18:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:18:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:18:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:18:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True
+[05/10 14:18:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 89.500[deg]
+[05/10 14:18:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:18:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:19:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:20:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:21:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:21:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:21:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:21:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:21:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:21:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 15.29s (batch: 4.28s, save: 11.02s)
+[05/10 14:21:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=193.04s, total=193.04s, count=1, min=193036.4ms, max=193036.4ms
+  sensor_polling: mean=481.5ms, total=144.45s, count=300, min=445.7ms, max=880.2ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11018.3ms, max=11018.3ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=15.6ms, max=40.9ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.6ms, max=4276.6ms
+  task_sampling: mean=487.1ms, total=487.1ms, count=1, min=487.1ms, max=487.1ms
+  task_specific_sample: mean=483.1ms, total=483.1ms, count=1, min=483.1ms, max=483.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=438.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:21:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:21:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:21:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:21:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:21:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:21:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:21:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:21:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:21:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:21:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 14:21:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:21:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:21:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034907m
+[05/10 14:21:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:21:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:21:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:21:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:21:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:21:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:21:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8928421   0.27860261  0.03490673] yaw=154.8deg
+[05/10 14:21:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:21:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:21:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.14272022  1.03364451  0.03490673] yaw=-127.1deg
+[05/10 14:21:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:21:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:21:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=178.6ms, total=178.7ms
+[05/10 14:21:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.279, 0.035)
+[05/10 14:21:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.8 deg
+[05/10 14:21:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.835m
+[05/10 14:21:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:21:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:21:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:21:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:21:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 14:21:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
+[05/10 14:21:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:21:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:21:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 14:21:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True
+[05/10 14:21:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.376[m] 89.190[deg]
+[05/10 14:21:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:22:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:23:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:23:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:23:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:23:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:23:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:23:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
+[05/10 14:23:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.470s, found feasible grasp: True
+[05/10 14:23:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.113[deg]
+[05/10 14:23:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:23:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:23:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:23:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:23:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:23:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:23:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:23:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:23:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:23:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:23:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:23:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)
+[05/10 14:23:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:23:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:23:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040661m
+[05/10 14:23:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:23:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:23:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:23:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81628415  0.196483   -0.04066056] yaw=167.7deg
+[05/10 14:23:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:23:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68727892  0.24669975 -0.04066056] yaw=164.4deg
+[05/10 14:23:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:23:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.05481447  0.83173347 -0.04066056] yaw=-154.6deg
+[05/10 14:23:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:23:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:23:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms
+[05/10 14:23:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.816, 0.196, -0.041)
+[05/10 14:23:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.7 deg
+[05/10 14:23:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m
+[05/10 14:23:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:23:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:23:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:23:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:23:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:23:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 14:23:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 14:23:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:23:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:23:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 14:23:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True
+[05/10 14:23:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.477[m] 83.858[deg]
+[05/10 14:23:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:23:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:23:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:24:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:24:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:24:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:26:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:26:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:26:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:26:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:26:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:26:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:26:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.79s (batch: 4.36s, save: 8.43s)
+[05/10 14:26:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.94s:
+  episode_total: mean=154.94s, total=309.89s, count=2, min=116772.0ms, max=193118.0ms
+  sensor_polling: mean=487.5ms, total=244.26s, count=501, min=455.6ms, max=792.6ms
+  physics_step: mean=23.3ms, total=11.65s, count=501, min=17.3ms, max=57.9ms
+  save_trajectories: mean=8.43s, total=8.43s, count=1, min=8426.0ms, max=8426.0ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.8ms, max=4361.8ms
+  task_sampling: mean=468.3ms, total=936.5ms, count=2, min=416.4ms, max=520.1ms
+  task_specific_sample: mean=464.3ms, total=928.6ms, count=2, min=413.2ms, max=515.4ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.4ms, max=3.2ms
+  mj_forward_sync: mean=491.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:26:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:26:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:26:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.035m, effective arm-mount z=0.825m (base_body_z=-0.035m, pedestal_h=0.860m)
+[05/10 14:26:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:26:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:26:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034907m
+[05/10 14:26:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:26:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:26:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:26:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82927735  0.18855344 -0.03490672] yaw=166.0deg
+[05/10 14:26:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:26:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88984311  0.4486617  -0.03490672] yaw=177.3deg
+[05/10 14:26:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:26:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03827952  0.97393978 -0.03490672] yaw=-153.0deg
+[05/10 14:26:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:26:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:26:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=392.8ms, total=392.9ms
+[05/10 14:26:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 0.189, -0.035)
+[05/10 14:26:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg
+[05/10 14:26:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.921m
+[05/10 14:26:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:26:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:26:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:26:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:26:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:26:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 14:26:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 14:26:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:26:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:26:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 14:26:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.638s, found feasible grasp: True
+[05/10 14:26:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.450[m] 82.859[deg]
+[05/10 14:26:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:27:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:27:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:29:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:29:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:29:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:29:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:29:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:29:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:29:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.01s (batch: 4.17s, save: 8.84s)
+[05/10 14:29:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.69s:
+  episode_total: mean=193.83s, total=193.83s, count=1, min=193831.4ms, max=193831.4ms
+  sensor_polling: mean=491.9ms, total=147.57s, count=300, min=454.7ms, max=833.8ms
+  save_trajectories: mean=8.84s, total=8.84s, count=1, min=8837.8ms, max=8837.8ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=16.3ms, max=31.4ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4167.5ms, max=4167.5ms
+  task_sampling: mean=685.7ms, total=685.7ms, count=1, min=685.7ms, max=685.7ms
+  task_specific_sample: mean=680.3ms, total=680.3ms, count=1, min=680.3ms, max=680.3ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=755.7us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:30:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:30:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:30:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:30:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:30:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:30:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:30:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:30:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:30:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:30:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:30:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.018m, effective arm-mount z=0.842m (base_body_z=-0.018m, pedestal_h=0.860m)
+[05/10 14:30:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:30:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:30:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.018199m
+[05/10 14:30:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:30:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:30:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:30:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:30:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:30:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:30:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8526533   0.16758849 -0.01819886] yaw=160.7deg
+[05/10 14:30:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:30:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14621238  1.07529737 -0.01819886] yaw=-138.9deg
+[05/10 14:30:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:30:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88893924  0.50199117 -0.01819886] yaw=-174.9deg
+[05/10 14:30:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:30:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:30:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.1ms
+[05/10 14:30:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.168, -0.018)
+[05/10 14:30:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg
+[05/10 14:30:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.906m
+[05/10 14:30:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:30:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:30:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:30:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:30:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:30:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 14:30:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 14:30:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:30:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:30:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:30:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.788s, found feasible grasp: True
+[05/10 14:30:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.453[m] 88.220[deg]
+[05/10 14:30:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:30:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:30:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:30:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:30:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:31:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:32:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:32:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:32:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:32:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:32:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:32:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:32:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps
+[05/10 14:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.632s, found feasible grasp: True
+[05/10 14:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.892[deg]
+[05/10 14:32:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:32:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:32:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:32:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:32:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:32:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:32:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:32:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.011m, effective arm-mount z=0.849m (base_body_z=-0.011m, pedestal_h=0.860m)
+[05/10 14:32:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:32:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:32:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.010946m
+[05/10 14:32:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:32:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:32:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88086928  0.98429046 -0.01094578] yaw=-156.5deg
+[05/10 14:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87664164  0.79218388 -0.01094578] yaw=-153.2deg
+[05/10 14:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:32:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:32:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.7ms
+[05/10 14:32:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.984, -0.011)
+[05/10 14:32:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.5 deg
+[05/10 14:32:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.963m
+[05/10 14:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:32:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:32:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 14:32:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 14:32:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:32:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:32:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 14:32:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True
+[05/10 14:32:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.610[m] 95.524[deg]
+[05/10 14:32:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:33:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:33:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:35:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:35:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:35:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:35:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:35:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:35:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:35:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.13s (batch: 4.60s, save: 8.53s)
+[05/10 14:35:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.95s:
+  episode_total: mean=177.25s, total=354.50s, count=2, min=162309.4ms, max=192190.2ms
+  sensor_polling: mean=485.8ms, total=280.77s, count=578, min=446.3ms, max=844.8ms
+  physics_step: mean=22.3ms, total=12.87s, count=578, min=16.4ms, max=32.8ms
+  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8530.8ms, max=8530.8ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4603.3ms, max=4603.3ms
+  task_sampling: mean=476.3ms, total=952.7ms, count=2, min=438.5ms, max=514.1ms
+  task_specific_sample: mean=472.7ms, total=945.3ms, count=2, min=434.6ms, max=510.7ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.5ms, max=2.7ms
+  mj_forward_sync: mean=455.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:35:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:35:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:35:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:35:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 14:35:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:35:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:35:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007702m
+[05/10 14:35:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:35:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:35:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99620103  1.32097789  0.00770178] yaw=-121.9deg
+[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05134104  0.86434723  0.00770178] yaw=-150.2deg
+[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:35:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:35:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.96141614  0.70340559  0.00770178] yaw=-169.4deg
+[05/10 14:35:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:35:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:35:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.3ms, total=200.3ms
+[05/10 14:35:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.996, 1.321, 0.008)
+[05/10 14:35:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -121.9 deg
+[05/10 14:35:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.097m
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:35:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:35:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 14:36:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 14:36:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:36:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:36:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/10 14:36:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.537s, found feasible grasp: False
+[05/10 14:36:01 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 14:36:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:36:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:36:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:36:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:36:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:36:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:36:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:36:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:36:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:36:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:36:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)
+[05/10 14:36:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:36:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:36:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.038324m
+[05/10 14:36:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:36:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:36:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94639114  0.34697009 -0.03832441] yaw=162.8deg
+[05/10 14:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04735679  0.23419845 -0.03832441] yaw=153.4deg
+[05/10 14:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03456748  0.70055342 -0.03832441] yaw=-157.4deg
+[05/10 14:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:36:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:36:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.4ms
+[05/10 14:36:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.347, -0.038)
+[05/10 14:36:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg
+[05/10 14:36:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.768m
+[05/10 14:36:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:36:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:36:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:36:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:36:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:36:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 14:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 14:36:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:36:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:36:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 14:36:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
+[05/10 14:36:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.288[m] 81.968[deg]
+[05/10 14:36:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:36:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:36:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:36:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:36:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:36:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:37:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:37:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:37:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:37:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:37:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:37:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:38:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:38:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:38:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:38:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:38:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:38:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
+[05/10 14:38:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.564s, found feasible grasp: True
+[05/10 14:38:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.172[deg]
+[05/10 14:38:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:38:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:38:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:38:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:39:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:39:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:39:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:39:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:39:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:39:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:39:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.30s (batch: 4.29s, save: 9.01s)
+[05/10 14:39:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.11s:
+  episode_total: mean=109.25s, total=218.51s, count=2, min=2291.9ms, max=216214.7ms
+  sensor_polling: mean=503.2ms, total=150.96s, count=300, min=461.8ms, max=942.3ms
+  save_trajectories: mean=9.01s, total=9.01s, count=1, min=9012.0ms, max=9012.0ms
+  physics_step: mean=23.0ms, total=6.91s, count=300, min=16.7ms, max=33.4ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4291.2ms, max=4291.2ms
+  task_sampling: mean=556.9ms, total=1.11s, count=2, min=509.2ms, max=604.5ms
+  task_specific_sample: mean=553.4ms, total=1.11s, count=2, min=506.2ms, max=600.6ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.3ms, max=2.7ms
+  mj_forward_sync: mean=438.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:39:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:39:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:39:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:39:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:39:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:39:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:39:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:39:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:39:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:39:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:39:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
+[05/10 14:39:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:39:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:39:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047996m
+[05/10 14:39:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:39:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:39:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:39:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7152007   0.72413304  0.04799573] yaw=-160.7deg
+[05/10 14:39:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:39:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:39:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78837347  1.0413213   0.04799573] yaw=-151.7deg
+[05/10 14:39:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:39:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97122827  0.71199552  0.04799573] yaw=-157.0deg
+[05/10 14:39:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:39:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:39:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.3ms, total=123.4ms
+[05/10 14:39:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.724, 0.048)
+[05/10 14:39:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg
+[05/10 14:39:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.016m
+[05/10 14:39:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:39:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:39:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:39:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:39:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:39:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 14:39:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 14:39:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:39:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:39:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 14:39:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.041s, found feasible grasp: True
+[05/10 14:39:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.587[m] 94.028[deg]
+[05/10 14:39:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:39:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:39:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:40:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:40:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:42:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:42:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:42:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:42:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:42:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:42:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:42:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.60s (batch: 4.00s, save: 8.60s)
+[05/10 14:42:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
+  episode_total: mean=192.42s, total=192.42s, count=1, min=192418.3ms, max=192418.3ms
+  sensor_polling: mean=486.7ms, total=146.00s, count=300, min=453.4ms, max=782.1ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.1ms, max=8598.1ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=15.9ms, max=33.1ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3998.5ms, max=3998.5ms
+  task_sampling: mean=414.1ms, total=414.1ms, count=1, min=414.1ms, max=414.1ms
+  task_specific_sample: mean=410.1ms, total=410.1ms, count=1, min=410.1ms, max=410.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=467.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:42:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:42:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:42:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:42:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:42:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:42:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:42:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:42:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:42:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:42:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 14:42:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:42:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:42:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010917m
+[05/10 14:42:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:42:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:42:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:42:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89600913  0.07261128  0.01091664] yaw=159.2deg
+[05/10 14:42:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:42:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97630165  1.09410924  0.01091664] yaw=-139.7deg
+[05/10 14:42:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:42:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91390666  1.21154717  0.01091664] yaw=-148.1deg
+[05/10 14:42:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:42:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:42:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.2ms, total=142.2ms
+[05/10 14:42:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.073, 0.011)
+[05/10 14:42:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg
+[05/10 14:42:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.904m
+[05/10 14:42:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:42:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:42:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:42:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:42:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:42:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 14:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 14:42:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:42:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:42:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:42:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True
+[05/10 14:42:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.470[m] 87.830[deg]
+[05/10 14:42:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:43:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:43:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:43:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:45:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:45:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:45:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:45:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:45:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:45:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:45:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
+[05/10 14:45:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.425s, found feasible grasp: True
+[05/10 14:45:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.114[deg]
+[05/10 14:45:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:45:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:45:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:45:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:46:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:46:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:46:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:46:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:46:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:46:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.84s (batch: 4.39s, save: 8.46s)
+[05/10 14:46:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.45s:
+  episode_total: mean=206.86s, total=206.86s, count=1, min=206856.9ms, max=206856.9ms
+  sensor_polling: mean=492.3ms, total=147.69s, count=300, min=459.7ms, max=745.7ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.5ms, max=8455.5ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=15.0ms, max=67.6ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4389.0ms, max=4389.0ms
+  task_sampling: mean=448.2ms, total=448.2ms, count=1, min=448.2ms, max=448.2ms
+  task_specific_sample: mean=444.3ms, total=444.3ms, count=1, min=444.3ms, max=444.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=430.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:46:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:46:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:46:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:46:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:46:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:46:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:46:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:46:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:46:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:46:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:46:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 14:46:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:46:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:46:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043753m
+[05/10 14:46:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:46:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:46:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:46:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97863391  1.13654014  0.04375263] yaw=-138.5deg
+[05/10 14:46:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:46:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89901587  0.53250508  0.04375263] yaw=-184.8deg
+[05/10 14:46:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:46:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81839762  0.19170031  0.04375263] yaw=159.2deg
+[05/10 14:46:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:46:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:46:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.1ms, total=85.1ms
+[05/10 14:46:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.979, 1.137, 0.044)
+[05/10 14:46:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.5 deg
+[05/10 14:46:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
+[05/10 14:46:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:46:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:46:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:46:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:46:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:46:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 14:46:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 14:46:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:46:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:46:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 14:46:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.774s, found feasible grasp: True
+[05/10 14:46:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.516[m] 83.118[deg]
+[05/10 14:46:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:46:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:46:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:47:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:47:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:48:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:48:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:48:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:48:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:48:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:48:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:48:46 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:48:46 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:48:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:48:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:48:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps
+[05/10 14:48:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.738s, found feasible grasp: True
+[05/10 14:48:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.845[deg]
+[05/10 14:48:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:48:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:48:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:49:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:49:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:49:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:49:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:49:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:49:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:49:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:49:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.51s (batch: 4.26s, save: 8.25s)
+[05/10 14:49:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.39s:
+  episode_total: mean=199.07s, total=199.07s, count=1, min=199073.6ms, max=199073.6ms
+  sensor_polling: mean=475.1ms, total=142.54s, count=300, min=428.7ms, max=731.6ms
+  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8254.0ms, max=8254.0ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=15.4ms, max=46.0ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.9ms, max=4259.9ms
+  task_sampling: mean=385.1ms, total=385.1ms, count=1, min=385.1ms, max=385.1ms
+  task_specific_sample: mean=381.6ms, total=381.6ms, count=1, min=381.6ms, max=381.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=405.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:49:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:49:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:49:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:49:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:49:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:49:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:49:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:49:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:49:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:49:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:49:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)
+[05/10 14:49:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:49:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:49:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047469m
+[05/10 14:49:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:49:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:49:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:49:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:49:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01541936  0.8555137  -0.04746936] yaw=-155.4deg
+[05/10 14:49:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:49:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98916372  0.57554387 -0.04746936] yaw=-183.5deg
+[05/10 14:49:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:49:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:49:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90397745  1.13141531 -0.04746936] yaw=-132.7deg
+[05/10 14:49:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:49:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:49:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.6ms, total=108.7ms
+[05/10 14:49:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.856, -0.047)
+[05/10 14:49:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.4 deg
+[05/10 14:49:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.782m
+[05/10 14:49:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:49:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:49:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:49:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:49:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:49:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 14:49:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
+[05/10 14:49:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:49:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:49:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 14:49:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True
+[05/10 14:49:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 99.417[deg]
+[05/10 14:49:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:49:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:49:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:50:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:50:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:52:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:52:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:52:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:52:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:52:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:52:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:52:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.56s (batch: 3.99s, save: 8.57s)
+[05/10 14:52:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
+  episode_total: mean=184.66s, total=184.66s, count=1, min=184663.5ms, max=184663.5ms
+  sensor_polling: mean=463.9ms, total=139.16s, count=300, min=434.8ms, max=745.4ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8569.8ms, max=8569.8ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=18.6ms, max=30.7ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.8ms, max=3992.8ms
+  task_sampling: mean=419.8ms, total=419.8ms, count=1, min=419.8ms, max=419.8ms
+  task_specific_sample: mean=415.7ms, total=415.7ms, count=1, min=415.7ms, max=415.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:52:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:52:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:52:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:52:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:52:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:52:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:52:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:52:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:52:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:52:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:52:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)
+[05/10 14:52:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:52:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:52:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048248m
+[05/10 14:52:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:52:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:52:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:52:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:52:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82212884  0.5330823  -0.04824771] yaw=-175.7deg
+[05/10 14:52:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:52:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:52:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:52:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:52:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.99932792  0.87625488 -0.04824771] yaw=-145.8deg
+[05/10 14:52:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:52:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90665121  0.26023344 -0.04824771] yaw=175.8deg
+[05/10 14:52:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:52:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:52:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=158.7ms, total=158.7ms
+[05/10 14:52:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.533, -0.048)
+[05/10 14:52:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.7 deg
+[05/10 14:52:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.882m
+[05/10 14:52:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:52:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:52:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:52:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:52:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:52:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 14:52:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 14:52:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:52:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:52:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 14:52:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.486s, found feasible grasp: True
+[05/10 14:52:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.428[m] 86.762[deg]
+[05/10 14:52:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:52:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:52:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:53:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:53:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:53:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:55:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:55:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:55:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 2/4: 1 episodes
+[05/10 14:55:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:55:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:55:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:55:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.46s (batch: 4.11s, save: 8.36s)
+[05/10 14:55:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.45s:
+  episode_total: mean=184.73s, total=184.73s, count=1, min=184734.9ms, max=184734.9ms
+  sensor_polling: mean=461.9ms, total=138.58s, count=300, min=424.6ms, max=752.7ms
+  save_trajectories: mean=8.36s, total=8.36s, count=1, min=8356.8ms, max=8356.8ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=16.1ms, max=38.0ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4107.8ms, max=4107.8ms
+  task_sampling: mean=450.2ms, total=450.2ms, count=1, min=450.2ms, max=450.2ms
+  task_specific_sample: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=422.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:55:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:55:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:55:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:55:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:55:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:55:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:55:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:55:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:55:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:55:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.012m, effective arm-mount z=0.848m (base_body_z=-0.012m, pedestal_h=0.860m)
+[05/10 14:55:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:55:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:55:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012420m
+[05/10 14:55:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:55:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:55:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:55:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:55:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:55:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05874849  1.07540036 -0.01242026] yaw=-136.5deg
+[05/10 14:55:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:55:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:55:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:55:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82287514  0.52664149 -0.01242026] yaw=-167.6deg
+[05/10 14:55:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:55:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98719447  1.09050792 -0.01242026] yaw=-135.3deg
+[05/10 14:55:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:55:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:55:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.5ms, total=198.5ms
+[05/10 14:55:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.059, 1.075, -0.012)
+[05/10 14:55:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.5 deg
+[05/10 14:55:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.875m
+[05/10 14:55:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:55:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:55:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:55:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:55:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 14:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
+[05/10 14:55:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:55:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:55:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:55:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.824s, found feasible grasp: True
+[05/10 14:55:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.433[m] 84.322[deg]
+[05/10 14:55:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:55:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:55:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:56:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:57:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:58:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:58:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:58:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:58:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:58:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:58:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
+[05/10 14:58:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.592s, found feasible grasp: True
+[05/10 14:58:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.367[deg]
+[05/10 14:58:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:58:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
+[05/10 14:58:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
+[05/10 14:58:12 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
+[05/10 14:58:12 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5767.08s
+  House averages:
+  episode_total: mean=172.71s, total=3108.81s, count=18, min=2291.9ms, max=216214.7ms
+  sensor_polling: mean=478.8ms, total=2357.87s, count=4925, min=378.9ms, max=942.3ms
+  physics_step: mean=22.5ms, total=110.78s, count=4925, min=15.0ms, max=67.6ms
+  save_trajectories: mean=8.88s, total=106.52s, count=12, min=8254.0ms, max=11018.3ms
+  save_batch_prep: mean=4.29s, total=51.52s, count=12, min=3992.8ms, max=4695.2ms
+  task_sampling: mean=725.7ms, total=13.06s, count=18, min=385.1ms, max=4848.4ms
+  task_specific_sample: mean=500.0ms, total=9.00s, count=18, min=381.6ms, max=850.1ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
+  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
+  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
+  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
+  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.3ms, max=3.7ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  mj_forward_sync: mean=486.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 14:58:12 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 14:58:12 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5767.08s
+  Worker averages:
+  episode_total: mean=172.71s, total=3108.81s, count=18, min=2291.9ms, max=216214.7ms
+  sensor_polling: mean=478.8ms, total=2357.87s, count=4925, min=378.9ms, max=942.3ms
+  physics_step: mean=22.5ms, total=110.78s, count=4925, min=15.0ms, max=67.6ms
+  save_trajectories: mean=8.88s, total=106.52s, count=12, min=8254.0ms, max=11018.3ms
+  save_batch_prep: mean=4.29s, total=51.52s, count=12, min=3992.8ms, max=4695.2ms
+  task_sampling: mean=725.7ms, total=13.06s, count=18, min=385.1ms, max=4848.4ms
+  task_specific_sample: mean=500.0ms, total=9.00s, count=18, min=381.6ms, max=850.1ms
+  scene_load: mean=3.99s, total=3.99s, count=1, min=3993.9ms, max=3993.9ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2358.4ms, max=2358.4ms
+  scene_compile: mean=1.39s, total=1.39s, count=1, min=1386.9ms, max=1386.9ms
+  compile_mujoco: mean=650.6ms, total=650.6ms, count=1, min=650.6ms, max=650.6ms
+  compile_xml_load: mean=644.6ms, total=644.6ms, count=1, min=644.6ms, max=644.6ms
+  scene_init: mean=205.7ms, total=205.7ms, count=1, min=205.7ms, max=205.7ms
+  scene_asset_install: mean=42.5ms, total=42.5ms, count=1, min=42.5ms, max=42.5ms
+  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.3ms, max=3.7ms
+  compile_aux_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_robot_add: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  compile_aux_policy_objects: mean=41.6ms, total=41.6ms, count=1, min=41.6ms, max=41.6ms
+  asset_install_grasps: mean=30.9ms, total=30.9ms, count=1, min=30.9ms, max=30.9ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  mj_forward_sync: mean=486.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=19.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 14:58:14 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 14:58:14 INFO pipeline.py:1491] Success count: 12, Total count: 13
+[05/10 14:58:14 INFO pipeline.py:1492] Success rate: 92.31%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_001
+==========================================
diff --git a/fridge_7/chunk_001/shard_3_of_4.log b/fridge_7/chunk_001/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..6a2f0a000d3542328a24fbcf21d8bd02e98bcf4e
--- /dev/null
+++ b/fridge_7/chunk_001/shard_3_of_4.log
@@ -0,0 +1,1719 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_001
+  shard=3/4  seed=20103  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:05:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 14:05:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 14:05:54 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_001'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 14:05:54 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x72a817450a50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20103,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:05:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 14:05:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 14:05:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 126066269684752 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 126066269684752 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 126066269684752 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 126066269684752 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 126066271928144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126066271928144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126066271926224 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126066271926224 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126066271926224 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126066271926224 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126066271928144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126066271928144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126066272190864 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126066272190864 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126066272193104 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126066272193104 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 126066272193104 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126066272193104 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126066272190864 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126066272190864 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 14:05:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5e727c72f170 at 0x72a817975690>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5e727c75cd10 at 0x72a81797f910>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5e727c75cd10 at 0x72a81790c410>
+[05/10 14:05:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:05:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.047m, effective arm-mount z=0.813m (base_body_z=-0.047m, pedestal_h=0.860m)
+[05/10 14:05:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:05:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:05:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.047403m
+[05/10 14:05:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:05:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 14:05:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.722247    0.63381804 -0.04740266] yaw=-165.9deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93355378  0.34263279 -0.04740266] yaw=167.9deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:05:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:05:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=24.1ms, retries=353.7ms, total=377.8ms
+[05/10 14:05:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.722, 0.634, -0.047)
+[05/10 14:05:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.9 deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.992m
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:05:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:05:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 14:06:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.099s
+[05/10 14:06:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:06:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:06:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 14:06:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True
+[05/10 14:06:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.509[m] 80.513[deg]
+[05/10 14:06:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:07:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:07:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:08:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 14:09:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:09:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:09:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:09:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 14:09:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:09:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.31s (batch: 4.61s, save: 8.70s)
+[05/10 14:09:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.74s:
+  episode_total: mean=220.92s, total=220.92s, count=1, min=220922.5ms, max=220922.5ms
+  sensor_polling: mean=479.5ms, total=143.86s, count=300, min=450.4ms, max=633.7ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8696.3ms, max=8696.3ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=15.5ms, max=32.9ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4613.5ms, max=4613.5ms
+  task_sampling: mean=3.74s, total=3.74s, count=1, min=3743.6ms, max=3743.6ms
+  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
+  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
+  task_specific_sample: mean=652.7ms, total=652.7ms, count=1, min=652.7ms, max=652.7ms
+  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
+  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
+  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
+  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
+  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=686.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=26.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:09:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:09:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:09:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:09:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:09:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:09:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:09:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:09:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:09:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:09:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:09:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 14:09:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:09:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:09:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044235m
+[05/10 14:09:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:09:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:09:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:09:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97971362  0.67989239  0.04423522] yaw=-165.6deg
+[05/10 14:09:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:09:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 117.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00498182  0.58033261  0.04423522] yaw=-178.7deg
+[05/10 14:09:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:09:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79657213  0.1582366   0.04423522] yaw=150.1deg
+[05/10 14:09:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:09:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:09:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.0ms, total=142.0ms
+[05/10 14:09:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.980, 0.680, 0.044)
+[05/10 14:09:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.6 deg
+[05/10 14:09:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.749m
+[05/10 14:09:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:09:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:09:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:09:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:09:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:09:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 14:09:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 14:09:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:09:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:09:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:09:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True
+[05/10 14:09:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.328[m] 91.136[deg]
+[05/10 14:09:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:09:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:09:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:10:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:12:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:12:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:12:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:12:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 288 timesteps
+[05/10 14:12:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:12:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:12:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.63s (batch: 4.22s, save: 8.41s)
+[05/10 14:12:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=182.36s, total=182.36s, count=1, min=182363.3ms, max=182363.3ms
+  sensor_polling: mean=477.4ms, total=137.03s, count=287, min=451.2ms, max=732.1ms
+  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8409.6ms, max=8409.6ms
+  physics_step: mean=22.1ms, total=6.34s, count=287, min=17.0ms, max=30.8ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.5ms, max=4220.5ms
+  task_sampling: mean=424.3ms, total=424.3ms, count=1, min=424.3ms, max=424.3ms
+  task_specific_sample: mean=420.3ms, total=420.3ms, count=1, min=420.3ms, max=420.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=444.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:12:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:12:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:12:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:12:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:12:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:12:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:12:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:12:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:12:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:12:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:12:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.019m, effective arm-mount z=0.841m (base_body_z=-0.019m, pedestal_h=0.860m)
+[05/10 14:12:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:12:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:12:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.019357m
+[05/10 14:12:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:12:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:12:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:12:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78023439  0.39542164 -0.01935712] yaw=168.8deg
+[05/10 14:12:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:12:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:12:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98237261  0.79356752 -0.01935712] yaw=-164.7deg
+[05/10 14:12:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:12:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.94133528  1.07236431 -0.01935712] yaw=-149.3deg
+[05/10 14:12:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:12:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:12:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.1ms, total=323.2ms
+[05/10 14:12:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.395, -0.019)
+[05/10 14:12:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg
+[05/10 14:12:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.926m
+[05/10 14:12:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:12:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:12:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:12:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:12:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:12:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 14:12:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 14:12:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:12:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:12:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:12:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.485s, found feasible grasp: True
+[05/10 14:12:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.501[m] 97.592[deg]
+[05/10 14:12:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:12:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:12:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:13:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:13:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:13:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:15:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:15:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:15:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:15:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:15:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:15:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:15:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.86s (batch: 4.34s, save: 9.52s)
+[05/10 14:15:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.63s:
+  episode_total: mean=193.90s, total=193.90s, count=1, min=193900.4ms, max=193900.4ms
+  sensor_polling: mean=485.2ms, total=145.56s, count=300, min=455.6ms, max=783.2ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9518.2ms, max=9518.2ms
+  physics_step: mean=23.5ms, total=7.06s, count=300, min=18.8ms, max=38.1ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4340.4ms, max=4340.4ms
+  task_sampling: mean=628.8ms, total=628.8ms, count=1, min=628.8ms, max=628.8ms
+  task_specific_sample: mean=624.8ms, total=624.8ms, count=1, min=624.8ms, max=624.8ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=451.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:15:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:15:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:15:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:15:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:15:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:15:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:15:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:15:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:15:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:15:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:15:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.009m, effective arm-mount z=0.851m (base_body_z=-0.009m, pedestal_h=0.860m)
+[05/10 14:15:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:15:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:15:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.009189m
+[05/10 14:15:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:15:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:15:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9438823   0.85806287 -0.00918854] yaw=-144.6deg
+[05/10 14:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80088408  0.74344339 -0.00918854] yaw=-169.4deg
+[05/10 14:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:15:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70427385  0.04769636 -0.00918854] yaw=153.1deg
+[05/10 14:15:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:15:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:15:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=84.5ms, total=84.6ms
+[05/10 14:15:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.858, -0.009)
+[05/10 14:15:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg
+[05/10 14:15:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.847m
+[05/10 14:15:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:15:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:15:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:15:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:15:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:15:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 14:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 14:15:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:15:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:15:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 14:15:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
+[05/10 14:15:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.388[m] 82.622[deg]
+[05/10 14:15:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:15:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:15:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:16:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:16:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:16:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:18:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:18:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:18:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:18:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
+[05/10 14:19:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:19:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:19:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.08s (batch: 4.37s, save: 8.71s)
+[05/10 14:19:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.39s:
+  episode_total: mean=193.37s, total=193.37s, count=1, min=193370.6ms, max=193370.6ms
+  sensor_polling: mean=490.0ms, total=146.50s, count=299, min=459.2ms, max=659.8ms
+  save_trajectories: mean=8.71s, total=8.71s, count=1, min=8706.6ms, max=8706.6ms
+  physics_step: mean=22.9ms, total=6.86s, count=299, min=16.5ms, max=32.9ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4374.5ms, max=4374.5ms
+  task_sampling: mean=389.6ms, total=389.6ms, count=1, min=389.6ms, max=389.6ms
+  task_specific_sample: mean=385.0ms, total=385.0ms, count=1, min=385.0ms, max=385.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=497.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:19:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:19:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:19:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:19:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:19:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:19:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:19:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:19:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:19:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:19:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:19:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)
+[05/10 14:19:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:19:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:19:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044560m
+[05/10 14:19:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:19:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:19:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:19:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:19:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:19:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:19:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:19:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75084256  0.55442678 -0.0445596 ] yaw=-178.6deg
+[05/10 14:19:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:19:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94782     0.46865595 -0.0445596 ] yaw=178.2deg
+[05/10 14:19:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:19:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85904163  0.0377907  -0.0445596 ] yaw=152.0deg
+[05/10 14:19:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:19:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:19:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.6ms
+[05/10 14:19:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.554, -0.045)
+[05/10 14:19:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.6 deg
+[05/10 14:19:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
+[05/10 14:19:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:19:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:19:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:19:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:19:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:19:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 14:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.106s
+[05/10 14:19:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:19:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:19:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 14:19:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
+[05/10 14:19:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.544[m] 98.544[deg]
+[05/10 14:19:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:20:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:21:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:22:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:22:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:22:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:22:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:22:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:22:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.30s (batch: 4.40s, save: 8.90s)
+[05/10 14:22:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.55s:
+  episode_total: mean=192.98s, total=192.98s, count=1, min=192982.3ms, max=192982.3ms
+  sensor_polling: mean=483.6ms, total=145.09s, count=300, min=455.1ms, max=720.1ms
+  save_trajectories: mean=8.90s, total=8.90s, count=1, min=8895.1ms, max=8895.1ms
+  physics_step: mean=23.4ms, total=7.01s, count=300, min=18.8ms, max=79.8ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4400.1ms, max=4400.1ms
+  task_sampling: mean=550.5ms, total=550.5ms, count=1, min=550.5ms, max=550.5ms
+  task_specific_sample: mean=546.0ms, total=546.0ms, count=1, min=546.0ms, max=546.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=420.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=39.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:22:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:22:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:22:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:22:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:22:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:22:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:22:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:22:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:22:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:22:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:22:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)
+[05/10 14:22:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:22:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:22:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028836m
+[05/10 14:22:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:22:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:22:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:22:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:22:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15961076  1.12263759 -0.02883615] yaw=-119.6deg
+[05/10 14:22:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:22:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:22:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:22:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15394852  1.0527929  -0.02883615] yaw=-131.5deg
+[05/10 14:22:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:22:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98218125  0.15705872 -0.02883615] yaw=146.8deg
+[05/10 14:22:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:22:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:22:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms
+[05/10 14:22:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.160, 1.123, -0.029)
+[05/10 14:22:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.6 deg
+[05/10 14:22:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.840m
+[05/10 14:22:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:22:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:22:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:22:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:22:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:22:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 14:22:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/10 14:22:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:22:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:22:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 14:22:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.821s, found feasible grasp: True
+[05/10 14:22:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.433[m] 90.855[deg]
+[05/10 14:22:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:22:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:22:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:23:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:24:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:24:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:24:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:24:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:24:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:24:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:24:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:24:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
+[05/10 14:24:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.731s, found feasible grasp: True
+[05/10 14:24:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.057[m] 9.931[deg]
+[05/10 14:24:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:24:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:24:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:24:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:24:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:24:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:24:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:24:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:24:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:24:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:24:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:24:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
+[05/10 14:24:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:24:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:24:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036250m
+[05/10 14:24:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:24:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:24:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:24:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:24:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09469198  1.17180561  0.03624994] yaw=-140.2deg
+[05/10 14:24:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:24:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:24:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.6ms, total=178.6ms
+[05/10 14:24:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.095, 1.172, 0.036)
+[05/10 14:24:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.2 deg
+[05/10 14:24:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m
+[05/10 14:24:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:24:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:24:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:24:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:24:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:24:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 14:24:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 14:24:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:24:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:24:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 14:24:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.696s, found feasible grasp: True
+[05/10 14:24:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.542[m] 92.338[deg]
+[05/10 14:24:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:25:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:25:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:26:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:26:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:26:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:27:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:27:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:27:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:27:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:27:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:27:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:27:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:27:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:27:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
+[05/10 14:27:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.740s, found feasible grasp: True
+[05/10 14:27:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.295[deg]
+[05/10 14:27:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:27:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:27:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:27:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:27:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:27:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:27:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:28:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:28:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:28:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:28:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:28:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:28:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.99s (batch: 4.52s, save: 8.47s)
+[05/10 14:28:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.87s:
+  episode_total: mean=173.90s, total=347.80s, count=2, min=144265.5ms, max=203535.8ms
+  sensor_polling: mean=479.1ms, total=265.88s, count=555, min=452.0ms, max=753.2ms
+  physics_step: mean=21.8ms, total=12.08s, count=555, min=16.2ms, max=38.4ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8468.5ms, max=8468.5ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4521.4ms, max=4521.4ms
+  task_sampling: mean=435.4ms, total=870.8ms, count=2, min=424.9ms, max=445.9ms
+  task_specific_sample: mean=431.9ms, total=863.8ms, count=2, min=421.1ms, max=442.6ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=414.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:28:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:28:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:28:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:28:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:28:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:28:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:28:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:28:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:28:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:28:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:28:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
+[05/10 14:28:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:28:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:28:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006864m
+[05/10 14:28:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:28:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:28:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:28:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:28:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77705269  0.28051767  0.0068636 ] yaw=170.9deg
+[05/10 14:28:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:28:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:28:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.9ms, total=193.9ms
+[05/10 14:28:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.281, 0.007)
+[05/10 14:28:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.9 deg
+[05/10 14:28:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.947m
+[05/10 14:28:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:28:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:28:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:28:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:28:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:28:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 14:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 14:28:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:28:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:28:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:28:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True
+[05/10 14:28:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.531[m] 94.745[deg]
+[05/10 14:28:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:29:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:29:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:31:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:31:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:31:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:31:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:31:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:31:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:31:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.54s (batch: 4.38s, save: 9.16s)
+[05/10 14:31:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.50s:
+  episode_total: mean=206.47s, total=206.47s, count=1, min=206471.8ms, max=206471.8ms
+  sensor_polling: mean=486.6ms, total=145.97s, count=300, min=452.1ms, max=745.1ms
+  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9162.5ms, max=9162.5ms
+  physics_step: mean=23.1ms, total=6.93s, count=300, min=17.1ms, max=39.5ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4377.5ms, max=4377.5ms
+  task_sampling: mean=500.2ms, total=500.2ms, count=1, min=500.2ms, max=500.2ms
+  task_specific_sample: mean=496.0ms, total=496.0ms, count=1, min=496.0ms, max=496.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=467.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:31:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:31:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:31:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:31:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:31:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:31:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:31:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:31:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:31:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:31:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:31:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 14:31:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:31:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:31:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016052m
+[05/10 14:31:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:31:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:31:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:31:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06149047  0.86727862  0.01605226] yaw=-139.9deg
+[05/10 14:31:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:31:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:31:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:31:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:31:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:31:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85918114  0.149177    0.01605226] yaw=155.2deg
+[05/10 14:31:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:31:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:31:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.2ms
+[05/10 14:31:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.061, 0.867, 0.016)
+[05/10 14:31:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.9 deg
+[05/10 14:31:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.748m
+[05/10 14:31:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:31:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:31:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:31:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:31:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:31:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 14:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 14:31:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:31:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:31:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 14:31:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True
+[05/10 14:31:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.119[deg]
+[05/10 14:31:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:32:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:34:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:34:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:34:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:34:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
+[05/10 14:34:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:34:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:34:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.36s (batch: 4.30s, save: 9.07s)
+[05/10 14:34:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.50s:
+  episode_total: mean=190.52s, total=190.52s, count=1, min=190515.5ms, max=190515.5ms
+  sensor_polling: mean=487.8ms, total=142.93s, count=293, min=460.5ms, max=834.5ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9066.2ms, max=9066.2ms
+  physics_step: mean=22.7ms, total=6.64s, count=293, min=16.6ms, max=32.5ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4297.3ms, max=4297.3ms
+  task_sampling: mean=503.9ms, total=503.9ms, count=1, min=503.9ms, max=503.9ms
+  task_specific_sample: mean=500.0ms, total=500.0ms, count=1, min=500.0ms, max=500.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=443.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:34:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:34:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:34:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:34:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:34:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:34:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:34:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:34:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:34:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:34:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:34:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
+[05/10 14:34:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:34:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:34:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017434m
+[05/10 14:34:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:34:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:34:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:34:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.18606042  0.95908229  0.01743426] yaw=-136.6deg
+[05/10 14:34:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:34:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9435368   0.4003814   0.01743426] yaw=182.0deg
+[05/10 14:34:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:34:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94126091  0.7906858   0.01743426] yaw=-149.9deg
+[05/10 14:34:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:34:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:34:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms
+[05/10 14:34:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.186, 0.959, 0.017)
+[05/10 14:34:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.6 deg
+[05/10 14:34:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.703m
+[05/10 14:34:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:34:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:34:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:34:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:34:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:34:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 14:34:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.108s
+[05/10 14:34:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:34:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:34:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
+[05/10 14:34:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.616s, found feasible grasp: True
+[05/10 14:34:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.302[m] 90.256[deg]
+[05/10 14:34:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:35:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:35:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:35:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:37:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:37:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:37:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:37:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:37:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:37:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:37:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
+[05/10 14:37:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.779s, found feasible grasp: True
+[05/10 14:37:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]
+[05/10 14:37:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:37:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:37:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:37:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:37:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:37:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:37:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:37:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:37:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:37:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:37:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:37:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
+[05/10 14:37:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:37:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:37:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038666m
+[05/10 14:37:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:37:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:37:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:37:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:37:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82987378  0.66938852  0.03866634] yaw=-160.9deg
+[05/10 14:37:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:37:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:37:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:37:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:37:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12425888  0.90465122  0.03866634] yaw=-149.3deg
+[05/10 14:37:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:37:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9136454   0.80075683  0.03866634] yaw=-161.4deg
+[05/10 14:37:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:37:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:37:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=252.8ms, total=252.9ms
+[05/10 14:37:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.830, 0.669, 0.039)
+[05/10 14:37:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg
+[05/10 14:37:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
+[05/10 14:37:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:37:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:37:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:37:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:37:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:37:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 14:37:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
+[05/10 14:37:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:37:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:37:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 14:37:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True
+[05/10 14:37:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.471[m] 93.631[deg]
+[05/10 14:37:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:37:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:37:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:38:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:38:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:40:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:40:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:40:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:40:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:40:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:40:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:40:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.49s (batch: 4.38s, save: 9.11s)
+[05/10 14:40:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
+  episode_total: mean=176.31s, total=352.62s, count=2, min=156538.8ms, max=196078.6ms
+  sensor_polling: mean=492.4ms, total=281.15s, count=571, min=455.2ms, max=908.0ms
+  physics_step: mean=22.5ms, total=12.83s, count=571, min=16.6ms, max=34.0ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9112.4ms, max=9112.4ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.6ms, max=4379.6ms
+  task_sampling: mean=538.9ms, total=1.08s, count=2, min=519.6ms, max=558.2ms
+  task_specific_sample: mean=534.2ms, total=1.07s, count=2, min=515.1ms, max=553.4ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.0ms, max=2.9ms
+  mj_forward_sync: mean=467.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:40:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:40:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:40:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:40:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:40:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:40:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:40:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:40:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:40:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:40:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:40:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)
+[05/10 14:40:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:40:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:40:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048367m
+[05/10 14:40:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:40:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:40:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:40:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94208699  0.32712818 -0.04836731] yaw=178.6deg
+[05/10 14:40:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:40:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:40:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:40:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:40:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:40:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.844587    0.43306064 -0.04836731] yaw=177.3deg
+[05/10 14:40:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:40:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67235512  0.1475797  -0.04836731] yaw=165.4deg
+[05/10 14:40:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:40:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:40:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.8ms, total=189.9ms
+[05/10 14:40:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.327, -0.048)
+[05/10 14:40:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.6 deg
+[05/10 14:40:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
+[05/10 14:40:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:40:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:40:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:40:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:40:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:40:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 14:40:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
+[05/10 14:40:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:40:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:40:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:40:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True
+[05/10 14:40:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.361[m] 88.493[deg]
+[05/10 14:40:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:40:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:40:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:41:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:41:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:43:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:43:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:43:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:43:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
+[05/10 14:44:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:44:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:44:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.09s (batch: 4.34s, save: 8.75s)
+[05/10 14:44:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.60s:
+  episode_total: mean=193.72s, total=193.72s, count=1, min=193724.3ms, max=193724.3ms
+  sensor_polling: mean=496.9ms, total=145.59s, count=293, min=455.8ms, max=860.6ms
+  save_trajectories: mean=8.75s, total=8.75s, count=1, min=8749.9ms, max=8749.9ms
+  physics_step: mean=24.2ms, total=7.08s, count=293, min=15.9ms, max=36.8ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4340.7ms, max=4340.7ms
+  task_sampling: mean=595.0ms, total=595.0ms, count=1, min=595.0ms, max=595.0ms
+  task_specific_sample: mean=590.8ms, total=590.8ms, count=1, min=590.8ms, max=590.8ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=444.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:44:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:44:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:44:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:44:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:44:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:44:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:44:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:44:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:44:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:44:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:44:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.029m, effective arm-mount z=0.831m (base_body_z=-0.029m, pedestal_h=0.860m)
+[05/10 14:44:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:44:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:44:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.028981m
+[05/10 14:44:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:44:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:44:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:44:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:44:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:44:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:44:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86825003  0.17066027 -0.02898124] yaw=148.1deg
+[05/10 14:44:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:44:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:44:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02683912  1.27200356 -0.02898124] yaw=-138.6deg
+[05/10 14:44:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:44:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.64644395  0.62389012 -0.02898124] yaw=-171.9deg
+[05/10 14:44:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:44:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:44:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=220.9ms, total=220.9ms
+[05/10 14:44:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.868, 0.171, -0.029)
+[05/10 14:44:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.1 deg
+[05/10 14:44:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.890m
+[05/10 14:44:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:44:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:44:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:44:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:44:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:44:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 14:44:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
+[05/10 14:44:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:44:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:44:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 14:44:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.589s, found feasible grasp: True
+[05/10 14:44:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.406[m] 79.009[deg]
+[05/10 14:44:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:44:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:44:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:45:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:45:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:46:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:46:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:46:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:46:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:46:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:46:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:46:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:46:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:46:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:46:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 78 non-colliding grasps
+[05/10 14:46:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.513s, found feasible grasp: True
+[05/10 14:46:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.240[deg]
+[05/10 14:46:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:46:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:46:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:46:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:46:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:47:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:47:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:47:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:47:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:47:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:47:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.32s (batch: 4.45s, save: 8.87s)
+[05/10 14:47:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.53s:
+  episode_total: mean=206.49s, total=206.49s, count=1, min=206492.6ms, max=206492.6ms
+  sensor_polling: mean=497.3ms, total=149.20s, count=300, min=454.8ms, max=804.0ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8874.6ms, max=8874.6ms
+  physics_step: mean=23.8ms, total=7.13s, count=300, min=14.8ms, max=40.3ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4446.0ms, max=4446.0ms
+  task_sampling: mean=529.6ms, total=529.6ms, count=1, min=529.6ms, max=529.6ms
+  task_specific_sample: mean=525.7ms, total=525.7ms, count=1, min=525.7ms, max=525.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=445.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:47:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:47:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:47:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:47:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:47:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:47:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:47:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:47:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:47:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:47:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:47:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 14:47:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:47:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:47:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013990m
+[05/10 14:47:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:47:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:47:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:47:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94111771  0.2792047   0.01399007] yaw=176.5deg
+[05/10 14:47:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:47:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:47:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:47:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:47:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92634904  0.78002253  0.01399007] yaw=-155.3deg
+[05/10 14:47:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:47:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.04438286  1.0654504   0.01399007] yaw=-138.3deg
+[05/10 14:47:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:47:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:47:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.4ms, total=183.4ms
+[05/10 14:47:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.279, 0.014)
+[05/10 14:47:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.5 deg
+[05/10 14:47:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.788m
+[05/10 14:47:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:47:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:47:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:47:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:47:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:47:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 14:47:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 14:47:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:47:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:47:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:47:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True
+[05/10 14:47:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.334[m] 85.326[deg]
+[05/10 14:47:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:48:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:48:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:49:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:49:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:49:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:49:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:49:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:49:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:49:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
+[05/10 14:49:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.584s, found feasible grasp: True
+[05/10 14:49:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.568[deg]
+[05/10 14:49:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:49:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:49:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:49:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:49:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:49:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:49:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:49:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:49:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:49:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:50:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:51:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:51:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:51:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:51:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:51:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:51:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.68s (batch: 4.21s, save: 8.47s)
+[05/10 14:51:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.49s:
+  episode_total: mean=224.29s, total=224.29s, count=1, min=224291.1ms, max=224291.1ms
+  sensor_polling: mean=476.1ms, total=142.84s, count=300, min=441.3ms, max=742.6ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8469.4ms, max=8469.4ms
+  physics_step: mean=23.1ms, total=6.94s, count=300, min=13.1ms, max=36.0ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4213.7ms, max=4213.7ms
+  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
+  task_specific_sample: mean=484.5ms, total=484.5ms, count=1, min=484.5ms, max=484.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:51:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:51:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:51:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:51:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:51:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:51:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:51:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:51:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:51:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:51:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:51:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.042m, effective arm-mount z=0.818m (base_body_z=-0.042m, pedestal_h=0.860m)
+[05/10 14:51:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:51:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:51:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.041555m
+[05/10 14:51:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:51:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:51:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:51:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:51:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:51:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95544721  0.89367978 -0.04155475] yaw=-150.0deg
+[05/10 14:51:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:51:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96929981  1.19142222 -0.04155475] yaw=-146.5deg
+[05/10 14:51:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:51:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:51:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.82116976  0.52878201 -0.04155475] yaw=-176.6deg
+[05/10 14:51:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:51:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:51:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.5ms, total=192.5ms
+[05/10 14:51:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.894, -0.042)
+[05/10 14:51:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg
+[05/10 14:51:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m
+[05/10 14:51:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:51:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:51:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:51:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:51:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:51:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 14:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 14:51:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:51:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:51:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:51:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.723s, found feasible grasp: True
+[05/10 14:51:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.434[m] 88.868[deg]
+[05/10 14:51:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:52:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:52:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:52:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:53:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:54:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:54:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:54:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:54:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:54:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:54:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.73s (batch: 4.28s, save: 8.46s)
+[05/10 14:54:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
+  episode_total: mean=187.11s, total=187.11s, count=1, min=187114.1ms, max=187114.1ms
+  sensor_polling: mean=470.8ms, total=141.24s, count=300, min=435.9ms, max=771.3ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8457.0ms, max=8457.0ms
+  physics_step: mean=21.6ms, total=6.48s, count=300, min=18.8ms, max=33.6ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.5ms, max=4276.5ms
+  task_sampling: mean=474.6ms, total=474.6ms, count=1, min=474.6ms, max=474.6ms
+  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=418.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:54:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:54:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:54:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:54:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:54:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:54:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:54:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:54:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:54:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:54:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:54:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
+[05/10 14:54:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:54:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:54:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002977m
+[05/10 14:54:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:54:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:54:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:54:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95900184  0.7792959   0.00297682] yaw=-160.2deg
+[05/10 14:54:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:54:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:54:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.23991714  1.05451995  0.00297682] yaw=-121.8deg
+[05/10 14:54:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:54:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:54:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.71841063  0.66829297  0.00297682] yaw=-176.1deg
+[05/10 14:54:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:54:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:54:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.9ms, total=105.9ms
+[05/10 14:54:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.779, 0.003)
+[05/10 14:54:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg
+[05/10 14:54:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.801m
+[05/10 14:54:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:54:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:54:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:54:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:54:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:54:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 14:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 14:54:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:54:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:54:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:54:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.597s, found feasible grasp: True
+[05/10 14:54:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.392[m] 87.125[deg]
+[05/10 14:54:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:55:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:55:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:57:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:57:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:57:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 14:57:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
+[05/10 14:57:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:57:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:57:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 11.91s (batch: 4.07s, save: 7.84s)
+[05/10 14:57:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.41s:
+  episode_total: mean=182.78s, total=182.78s, count=1, min=182783.1ms, max=182783.1ms
+  sensor_polling: mean=464.4ms, total=138.85s, count=299, min=425.5ms, max=780.9ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7844.3ms, max=7844.3ms
+  physics_step: mean=21.3ms, total=6.37s, count=299, min=15.9ms, max=61.4ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4065.0ms, max=4065.0ms
+  task_sampling: mean=408.4ms, total=408.4ms, count=1, min=408.4ms, max=408.4ms
+  task_specific_sample: mean=404.3ms, total=404.3ms, count=1, min=404.3ms, max=404.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:57:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:57:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:57:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:57:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:57:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:57:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:57:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.005m, effective arm-mount z=0.855m (base_body_z=-0.005m, pedestal_h=0.860m)
+[05/10 14:57:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:57:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:57:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.004876m
+[05/10 14:57:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:57:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:57:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73702545 -0.04230718 -0.00487609] yaw=159.7deg
+[05/10 14:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77181166  0.22294962 -0.00487609] yaw=171.2deg
+[05/10 14:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:57:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:57:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02525252  0.90440586 -0.00487609] yaw=-144.0deg
+[05/10 14:57:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:57:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:57:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.9ms, total=196.0ms
+[05/10 14:57:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.737, -0.042, -0.005)
+[05/10 14:57:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg
+[05/10 14:57:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
+[05/10 14:57:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:57:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:57:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:57:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:57:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:57:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 14:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 14:57:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:57:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:57:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 14:57:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.969s, found feasible grasp: True
+[05/10 14:57:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.696[m] 98.445[deg]
+[05/10 14:57:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:57:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:57:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:57:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:57:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:57:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:57:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:57:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:57:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:57:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:57:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:57:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.045m, effective arm-mount z=0.815m (base_body_z=-0.045m, pedestal_h=0.860m)
+[05/10 14:57:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:57:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:57:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.044591m
+[05/10 14:57:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:57:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:57:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:57:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:57:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92352401  0.23366161 -0.04459072] yaw=155.5deg
+[05/10 14:57:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:57:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:57:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:57:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02124422  0.23782475 -0.04459072] yaw=155.3deg
+[05/10 14:57:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:57:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06467265  1.20860982 -0.04459072] yaw=-138.8deg
+[05/10 14:57:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:57:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:57:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.6ms, total=179.6ms
+[05/10 14:57:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.234, -0.045)
+[05/10 14:57:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.5 deg
+[05/10 14:57:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.817m
+[05/10 14:57:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:57:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:57:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:57:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:57:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:57:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 14:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
+[05/10 14:57:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:57:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:57:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 14:57:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.457s, found feasible grasp: True
+[05/10 14:57:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.406[m] 96.384[deg]
+[05/10 14:57:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:57:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:57:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:58:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:58:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:58:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:59:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:00:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 14 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 15:00:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 3/4: 1 episodes
+[05/10 15:00:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:00:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:00:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 15:00:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 10.77s (batch: 3.12s, save: 7.65s)
+[05/10 15:00:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.88s:
+  episode_total: mean=82.91s, total=165.83s, count=2, min=4147.1ms, max=161678.7ms
+  sensor_polling: mean=400.6ms, total=120.19s, count=300, min=364.5ms, max=670.3ms
+  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7647.8ms, max=7647.8ms
+  physics_step: mean=19.9ms, total=5.96s, count=300, min=14.5ms, max=23.4ms
+  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3123.6ms, max=3123.6ms
+  task_sampling: mean=442.4ms, total=884.8ms, count=2, min=432.6ms, max=452.2ms
+  task_specific_sample: mean=438.7ms, total=877.3ms, count=2, min=428.9ms, max=448.5ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=530.3us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:00:24 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
+[05/10 15:00:24 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
+[05/10 15:00:24 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 15/15 successful episodes
+[05/10 15:00:24 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 15/15 successful, 15 episodes, total_time=5967.73s
+  House averages:
+  episode_total: mean=180.07s, total=3241.18s, count=18, min=4147.1ms, max=224291.1ms
+  sensor_polling: mean=478.7ms, total=2391.85s, count=4997, min=364.5ms, max=908.0ms
+  save_trajectories: mean=8.67s, total=130.08s, count=15, min=7647.8ms, max=9518.2ms
+  physics_step: mean=22.5ms, total=112.32s, count=4997, min=13.1ms, max=79.8ms
+  save_batch_prep: mean=4.27s, total=63.99s, count=15, min=3123.6ms, max=4613.5ms
+  task_sampling: mean=670.5ms, total=12.07s, count=18, min=389.6ms, max=3743.6ms
+  task_specific_sample: mean=495.0ms, total=8.91s, count=18, min=385.0ms, max=652.7ms
+  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
+  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
+  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
+  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
+  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
+  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
+  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.4ms, max=3.1ms
+  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  mj_forward_sync: mean=467.4us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:00:24 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 15:00:24 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5967.73s
+  Worker averages:
+  episode_total: mean=180.07s, total=3241.18s, count=18, min=4147.1ms, max=224291.1ms
+  sensor_polling: mean=478.7ms, total=2391.85s, count=4997, min=364.5ms, max=908.0ms
+  save_trajectories: mean=8.67s, total=130.08s, count=15, min=7647.8ms, max=9518.2ms
+  physics_step: mean=22.5ms, total=112.32s, count=4997, min=13.1ms, max=79.8ms
+  save_batch_prep: mean=4.27s, total=63.99s, count=15, min=3123.6ms, max=4613.5ms
+  task_sampling: mean=670.5ms, total=12.07s, count=18, min=389.6ms, max=3743.6ms
+  task_specific_sample: mean=495.0ms, total=8.91s, count=18, min=385.0ms, max=652.7ms
+  scene_load: mean=3.09s, total=3.09s, count=1, min=3086.2ms, max=3086.2ms
+  scene_env_create: mean=1.88s, total=1.88s, count=1, min=1875.1ms, max=1875.1ms
+  scene_compile: mean=923.3ms, total=923.3ms, count=1, min=923.3ms, max=923.3ms
+  compile_mujoco: mean=593.0ms, total=593.0ms, count=1, min=593.0ms, max=593.0ms
+  compile_xml_load: mean=234.1ms, total=234.1ms, count=1, min=234.1ms, max=234.1ms
+  scene_init: mean=165.6ms, total=165.6ms, count=1, min=165.6ms, max=165.6ms
+  scene_asset_install: mean=121.9ms, total=121.9ms, count=1, min=121.9ms, max=121.9ms
+  asset_install_grasps: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
+  compile_aux_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  compile_aux_policy_objects: mean=73.3ms, total=73.3ms, count=1, min=73.3ms, max=73.3ms
+  scene_randomize: mean=2.5ms, total=44.2ms, count=18, min=1.4ms, max=3.1ms
+  asset_install_objects: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_scene: mean=14.9ms, total=14.9ms, count=1, min=14.9ms, max=14.9ms
+  compile_robot_add: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  mj_forward_sync: mean=467.4us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.7us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:00:26 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 15:00:26 INFO pipeline.py:1491] Success count: 15, Total count: 15
+[05/10 15:00:26 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_001
+==========================================
diff --git a/fridge_7/chunk_001/shard_4_of_4.log b/fridge_7/chunk_001/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..26d470128237ba6c3a467970e38b61a94143d328
--- /dev/null
+++ b/fridge_7/chunk_001/shard_4_of_4.log
@@ -0,0 +1,1639 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_001
+  shard=4/4  seed=20104  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:05:53 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 14:05:53 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 14:05:53 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_001'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 14:05:53 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_001'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x792d83e5f690>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20104,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.05, 0.05),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.7, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:05:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 14:05:53 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 14:05:53 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 133236387462928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 133236387462928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 133236387462928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 133236387462928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 133236392064592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 133236392064592 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 133236392066064 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 133236392066064 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 133236392066064 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 133236392066064 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 133236392064592 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 133236392064592 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 133236385510672 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 133236385510672 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 133236385511056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 133236385511056 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 133236385511056 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 133236385511056 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 133236385510672 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 133236385510672 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 14:05:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 57f2741da9c0 at 0x792d83f35910>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57f274208560 at 0x792d83b32d90>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57f274208560 at 0x792d840c6c50>
+[05/10 14:05:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 14:05:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:05:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:05:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.048m, effective arm-mount z=0.812m (base_body_z=-0.048m, pedestal_h=0.860m)
+[05/10 14:05:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:05:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:05:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.048169m
+[05/10 14:05:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:05:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 14:05:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69125629  0.08027645 -0.04816931] yaw=161.2deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83807354  0.40816477 -0.04816931] yaw=180.3deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:05:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94443861  0.29547828 -0.04816931] yaw=166.2deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:05:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:05:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=36.3ms, retries=256.7ms, total=293.0ms
+[05/10 14:05:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.080, -0.048)
+[05/10 14:05:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.2 deg
+[05/10 14:05:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.088m
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:05:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:05:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:05:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 14:06:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 26.633s
+[05/10 14:06:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:06:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:06:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps
+[05/10 14:06:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.199s, found feasible grasp: True
+[05/10 14:06:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.661[m] 83.886[deg]
+[05/10 14:06:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:06:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:06:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:06:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:06:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:06:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:06:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:06:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:06:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:06:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:06:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:06:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.038m, effective arm-mount z=0.822m (base_body_z=-0.038m, pedestal_h=0.860m)
+[05/10 14:06:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:06:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:06:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.037745m
+[05/10 14:06:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:06:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:06:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:06:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88134725  0.25156694 -0.03774461] yaw=165.4deg
+[05/10 14:06:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:06:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:06:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:06:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:06:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:06:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86567     0.10700006 -0.03774461] yaw=163.1deg
+[05/10 14:06:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:06:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:06:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.5ms, total=186.6ms
+[05/10 14:06:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.252, -0.038)
+[05/10 14:06:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg
+[05/10 14:06:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.853m
+[05/10 14:06:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:06:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:06:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:06:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:06:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:06:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 14:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
+[05/10 14:06:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:06:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:06:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:06:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.487s, found feasible grasp: True
+[05/10 14:06:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.417[m] 86.517[deg]
+[05/10 14:06:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:06:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:06:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:07:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:07:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:07:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:08:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:08:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:08:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:08:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:08:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:08:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
+[05/10 14:08:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.421s, found feasible grasp: True
+[05/10 14:08:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.206[deg]
+[05/10 14:08:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:09:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:09:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 14:09:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:09:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:09:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:09:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 14:09:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:09:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.14s (batch: 4.38s, save: 8.76s)
+[05/10 14:09:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.36s:
+  episode_total: mean=121.18s, total=242.35s, count=2, min=35900.7ms, max=206451.3ms
+  sensor_polling: mean=483.5ms, total=145.05s, count=300, min=462.3ms, max=603.4ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.8ms, max=8756.8ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.7ms, max=30.3ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4381.4ms, max=4381.4ms
+  task_sampling: mean=2.18s, total=4.36s, count=2, min=463.8ms, max=3896.5ms
+  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
+  task_specific_sample: mean=529.1ms, total=1.06s, count=2, min=461.1ms, max=597.1ms
+  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
+  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
+  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
+  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
+  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.5ms, max=2.1ms
+  mj_forward_sync: mean=693.9us, total=1.4ms, count=2, min=0.4ms, max=0.9ms
+  policy_setup: mean=25.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:09:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:09:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:09:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:09:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:09:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:09:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:09:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.003m, effective arm-mount z=0.857m (base_body_z=-0.003m, pedestal_h=0.860m)
+[05/10 14:09:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:09:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:09:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.002766m
+[05/10 14:09:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:09:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:09:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:09:59 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.6ms, total=166.6ms
+[05/10 14:09:59 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 14:09:59 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 14:10:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:10:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:10:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:10:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:10:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:10:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:10:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:10:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:10:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:10:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:10:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 14:10:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:10:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:10:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007892m
+[05/10 14:10:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:10:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:10:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:10:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:10:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95481712  0.55876433  0.00789238] yaw=-182.5deg
+[05/10 14:10:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:10:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08122887  0.8956589   0.00789238] yaw=-142.4deg
+[05/10 14:10:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:10:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02348414  0.18297724  0.00789238] yaw=145.6deg
+[05/10 14:10:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:10:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:10:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms
+[05/10 14:10:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.955, 0.559, 0.008)
+[05/10 14:10:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -182.5 deg
+[05/10 14:10:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.751m
+[05/10 14:10:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:10:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:10:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:10:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:10:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:10:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 14:10:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 14:10:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:10:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:10:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 14:10:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True
+[05/10 14:10:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.327[m] 90.535[deg]
+[05/10 14:10:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:10:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:10:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:12:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:12:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:12:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:12:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 287 timesteps
+[05/10 14:13:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:13:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:13:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.41s (batch: 4.12s, save: 8.28s)
+[05/10 14:13:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.38s:
+  episode_total: mean=92.17s, total=184.34s, count=2, min=178.3ms, max=184164.2ms
+  sensor_polling: mean=479.5ms, total=137.13s, count=286, min=453.1ms, max=704.2ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8284.0ms, max=8284.0ms
+  physics_step: mean=24.5ms, total=7.01s, count=286, min=16.3ms, max=40.8ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.9ms, max=4124.9ms
+  task_specific_sample: mean=275.7ms, total=551.3ms, count=2, min=172.1ms, max=379.2ms
+  task_sampling: mean=382.2ms, total=382.2ms, count=1, min=382.2ms, max=382.2ms
+  task_sampling_failed: mean=178.3ms, total=178.3ms, count=1, min=178.3ms, max=178.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=433.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 14:13:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:13:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:13:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:13:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:13:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:13:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:13:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:13:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:13:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:13:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:13:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.046m, effective arm-mount z=0.814m (base_body_z=-0.046m, pedestal_h=0.860m)
+[05/10 14:13:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:13:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:13:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.045616m
+[05/10 14:13:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:13:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:13:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:13:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89849137  0.52992825 -0.0456164 ] yaw=-175.0deg
+[05/10 14:13:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:13:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:13:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.18856068  0.97996157 -0.0456164 ] yaw=-140.1deg
+[05/10 14:13:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:13:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11712477  0.93137096 -0.0456164 ] yaw=-132.1deg
+[05/10 14:13:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:13:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:13:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.8ms
+[05/10 14:13:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.530, -0.046)
+[05/10 14:13:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.0 deg
+[05/10 14:13:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.805m
+[05/10 14:13:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:13:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:13:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:13:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:13:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:13:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 14:13:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 14:13:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:13:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:13:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 14:13:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True
+[05/10 14:13:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.389[m] 94.585[deg]
+[05/10 14:13:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:13:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:13:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:14:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:15:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:16:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:16:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:16:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:16:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:16:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:16:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.41s (batch: 4.30s, save: 9.12s)
+[05/10 14:16:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.40s:
+  episode_total: mean=195.31s, total=195.31s, count=1, min=195310.8ms, max=195310.8ms
+  sensor_polling: mean=483.0ms, total=144.89s, count=300, min=453.7ms, max=735.7ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9117.8ms, max=9117.8ms
+  physics_step: mean=22.4ms, total=6.71s, count=300, min=16.6ms, max=34.3ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4295.1ms, max=4295.1ms
+  task_sampling: mean=398.6ms, total=398.6ms, count=1, min=398.6ms, max=398.6ms
+  task_specific_sample: mean=394.8ms, total=394.8ms, count=1, min=394.8ms, max=394.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=444.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:16:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:16:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:16:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:16:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:16:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:16:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:16:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:16:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:16:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:16:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:16:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 14:16:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:16:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:16:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035141m
+[05/10 14:16:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:16:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:16:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:16:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97514845  0.20865218  0.03514068] yaw=156.3deg
+[05/10 14:16:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:16:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83401297  0.81676644  0.03514068] yaw=-161.2deg
+[05/10 14:16:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:16:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03018768  1.16249068  0.03514068] yaw=-140.4deg
+[05/10 14:16:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:16:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:16:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.2ms, total=108.3ms
+[05/10 14:16:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.975, 0.209, 0.035)
+[05/10 14:16:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.3 deg
+[05/10 14:16:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.777m
+[05/10 14:16:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:16:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:16:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:16:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:16:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:16:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 14:16:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 14:16:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:16:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:16:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 14:16:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
+[05/10 14:16:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.315[m] 80.006[deg]
+[05/10 14:16:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:16:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:17:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:17:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:17:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:17:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:17:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:18:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:18:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:18:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:18:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:18:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:18:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:18:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:18:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:18:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:18:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
+[05/10 14:18:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.441s, found feasible grasp: True
+[05/10 14:18:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.029[m] 0.274[deg]
+[05/10 14:18:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:18:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:18:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:18:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:18:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:18:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:18:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:18:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:18:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:18:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:18:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:18:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 14:18:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:18:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:18:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025100m
+[05/10 14:18:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:18:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:18:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:18:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07153121  1.24383276  0.02509963] yaw=-119.6deg
+[05/10 14:18:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:18:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 122.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:18:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13561491  1.10709203  0.02509963] yaw=-129.6deg
+[05/10 14:18:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:18:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:18:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.4ms, total=266.5ms
+[05/10 14:18:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 1.244, 0.025)
+[05/10 14:18:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -119.6 deg
+[05/10 14:18:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.989m
+[05/10 14:18:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:18:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:18:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:18:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:18:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:18:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 14:18:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 14:18:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:18:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:18:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:18:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True
+[05/10 14:18:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.544[m] 81.534[deg]
+[05/10 14:18:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:19:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:19:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:19:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:20:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:20:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:20:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:20:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:20:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps
+[05/10 14:20:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 1.773s, found feasible grasp: False
+[05/10 14:20:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 14:20:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:20:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:20:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:20:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:20:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:20:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:20:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:20:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.020m, effective arm-mount z=0.840m (base_body_z=-0.020m, pedestal_h=0.860m)
+[05/10 14:20:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:20:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:20:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.020229m
+[05/10 14:20:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:20:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:20:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8942734   1.19744634 -0.02022881] yaw=-127.5deg
+[05/10 14:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:20:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89133768  0.76884576 -0.02022881] yaw=-158.8deg
+[05/10 14:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:20:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03225475  0.89598383 -0.02022881] yaw=-148.9deg
+[05/10 14:20:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:20:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:20:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.3ms, total=154.3ms
+[05/10 14:20:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.894, 1.197, -0.020)
+[05/10 14:20:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg
+[05/10 14:20:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.079m
+[05/10 14:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:20:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:20:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 14:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
+[05/10 14:20:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:20:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:20:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 14:20:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.649s, found feasible grasp: True
+[05/10 14:20:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.703[m] 102.299[deg]
+[05/10 14:20:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:20:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:20:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:20:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:20:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:20:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:20:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:20:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
+[05/10 14:20:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:20:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:20:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026751m
+[05/10 14:20:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:20:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:20:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:23 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.0ms, total=174.0ms
+[05/10 14:20:23 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 14:20:23 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 14:20:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:20:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:20:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:20:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:20:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:20:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:20:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:20:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:20:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:20:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:20:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)
+[05/10 14:20:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:20:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:20:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.015089m
+[05/10 14:20:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:20:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:20:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:20:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7794751   0.62967367 -0.01508897] yaw=-172.1deg
+[05/10 14:20:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:20:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87277282  0.50430861 -0.01508897] yaw=-187.1deg
+[05/10 14:20:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:20:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:20:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:20:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms
+[05/10 14:20:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.630, -0.015)
+[05/10 14:20:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg
+[05/10 14:20:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.935m
+[05/10 14:20:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:20:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:20:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:20:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:20:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:20:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 14:20:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 14:20:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:20:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:20:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 14:20:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True
+[05/10 14:20:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.490[m] 88.945[deg]
+[05/10 14:20:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:21:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:21:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:21:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:22:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:23:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:23:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:23:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:23:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:23:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:23:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.59s (batch: 3.83s, save: 8.76s)
+[05/10 14:23:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.88s:
+  episode_total: mean=84.65s, total=423.24s, count=5, min=183.8ms, max=189338.8ms
+  sensor_polling: mean=483.5ms, total=329.27s, count=681, min=433.8ms, max=838.7ms
+  physics_step: mean=22.3ms, total=15.18s, count=681, min=15.6ms, max=38.2ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8764.3ms, max=8764.3ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3827.0ms, max=3827.0ms
+  task_specific_sample: mean=408.7ms, total=2.04s, count=5, min=178.5ms, max=542.7ms
+  task_sampling: mean=469.7ms, total=1.88s, count=4, min=417.5ms, max=545.9ms
+  task_sampling_failed: mean=183.8ms, total=183.8ms, count=1, min=183.8ms, max=183.8ms
+  scene_randomize: mean=1.7ms, total=8.3ms, count=5, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=431.8us, total=2.2ms, count=5, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
+[05/10 14:23:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:23:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:23:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:23:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:23:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:23:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:23:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:23:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:23:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:23:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:23:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.041m, effective arm-mount z=0.819m (base_body_z=-0.041m, pedestal_h=0.860m)
+[05/10 14:23:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:23:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:23:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.040736m
+[05/10 14:23:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:23:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:23:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:23:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79282446  0.72311692 -0.04073633] yaw=-170.0deg
+[05/10 14:23:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:23:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69299362  0.52228128 -0.04073633] yaw=-183.4deg
+[05/10 14:23:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:23:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:23:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04882899  1.28335603 -0.04073633] yaw=-136.4deg
+[05/10 14:23:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:23:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:23:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.7ms, total=219.7ms
+[05/10 14:23:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.723, -0.041)
+[05/10 14:23:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.0 deg
+[05/10 14:23:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.941m
+[05/10 14:23:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:23:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:23:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:23:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:23:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:23:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 14:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/10 14:23:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:23:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:23:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 14:23:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.564s, found feasible grasp: True
+[05/10 14:23:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.499[m] 89.644[deg]
+[05/10 14:23:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:24:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:26:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:26:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:26:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:26:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:26:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:26:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:26:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.97s (batch: 4.39s, save: 8.58s)
+[05/10 14:26:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
+  episode_total: mean=187.87s, total=187.87s, count=1, min=187871.5ms, max=187871.5ms
+  sensor_polling: mean=473.0ms, total=141.89s, count=300, min=449.3ms, max=650.5ms
+  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8580.0ms, max=8580.0ms
+  physics_step: mean=21.7ms, total=6.51s, count=300, min=16.4ms, max=32.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4391.5ms, max=4391.5ms
+  task_sampling: mean=518.0ms, total=518.0ms, count=1, min=518.0ms, max=518.0ms
+  task_specific_sample: mean=514.1ms, total=514.1ms, count=1, min=514.1ms, max=514.1ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=463.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:26:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:26:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:26:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:26:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.034m, effective arm-mount z=0.826m (base_body_z=-0.034m, pedestal_h=0.860m)
+[05/10 14:26:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:26:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:26:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.034466m
+[05/10 14:26:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:26:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:26:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:26:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67683357  0.45327974 -0.03446587] yaw=188.7deg
+[05/10 14:26:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:26:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:26:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.0120703   0.32471474 -0.03446587] yaw=162.3deg
+[05/10 14:26:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:26:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:26:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms
+[05/10 14:26:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.453, -0.034)
+[05/10 14:26:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 188.7 deg
+[05/10 14:26:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.026m
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:26:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:26:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:26:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 14:26:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
+[05/10 14:26:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:26:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:26:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 14:26:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True
+[05/10 14:26:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.593[m] 86.916[deg]
+[05/10 14:26:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:26:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:27:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:29:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:29:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:29:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:29:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:29:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:29:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:29:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.83s (batch: 4.36s, save: 8.47s)
+[05/10 14:29:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.68s:
+  episode_total: mean=189.85s, total=189.85s, count=1, min=189849.9ms, max=189849.9ms
+  sensor_polling: mean=481.6ms, total=144.48s, count=300, min=452.1ms, max=683.2ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8466.4ms, max=8466.4ms
+  physics_step: mean=21.5ms, total=6.46s, count=300, min=16.3ms, max=33.7ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4361.1ms, max=4361.1ms
+  task_sampling: mean=676.6ms, total=676.6ms, count=1, min=676.6ms, max=676.6ms
+  task_specific_sample: mean=672.5ms, total=672.5ms, count=1, min=672.5ms, max=672.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=423.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:29:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:29:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:29:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:29:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:29:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:29:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:29:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:29:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:29:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:29:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
+[05/10 14:29:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:29:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:29:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002162m
+[05/10 14:29:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:29:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:29:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:29:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:29:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81393293  0.40537927  0.00216236] yaw=180.1deg
+[05/10 14:29:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:29:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84176848  0.29764408  0.00216236] yaw=161.6deg
+[05/10 14:29:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:29:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:29:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.5ms, total=219.5ms
+[05/10 14:29:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.814, 0.405, 0.002)
+[05/10 14:29:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.1 deg
+[05/10 14:29:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
+[05/10 14:29:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:29:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:29:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:29:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:29:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 14:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 14:29:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:29:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:29:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 14:29:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True
+[05/10 14:29:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.509[m] 103.074[deg]
+[05/10 14:29:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:30:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:31:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:31:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:32:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:32:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:32:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:32:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:33:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:33:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:33:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.29s (batch: 4.32s, save: 8.97s)
+[05/10 14:33:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
+  episode_total: mean=196.50s, total=196.50s, count=1, min=196501.4ms, max=196501.4ms
+  sensor_polling: mean=490.2ms, total=147.06s, count=300, min=447.4ms, max=709.3ms
+  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8972.5ms, max=8972.5ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=15.6ms, max=30.8ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4319.9ms, max=4319.9ms
+  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
+  task_specific_sample: mean=503.0ms, total=503.0ms, count=1, min=503.0ms, max=503.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=411.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:33:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:33:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:33:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:33:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:33:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:33:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:33:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:33:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:33:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:33:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:33:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 14:33:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:33:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:33:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008099m
+[05/10 14:33:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:33:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:33:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:33:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93417647  0.67872928  0.00809918] yaw=-167.5deg
+[05/10 14:33:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:33:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:33:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:33:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:33:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68936237  0.47493719  0.00809918] yaw=187.8deg
+[05/10 14:33:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:33:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.78377112  0.67012814  0.00809918] yaw=-175.4deg
+[05/10 14:33:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:33:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:33:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=276.3ms, total=276.3ms
+[05/10 14:33:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.934, 0.679, 0.008)
+[05/10 14:33:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
+[05/10 14:33:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.793m
+[05/10 14:33:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:33:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:33:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:33:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:33:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:33:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 14:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 14:33:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:33:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:33:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:33:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True
+[05/10 14:33:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.366[m] 94.479[deg]
+[05/10 14:33:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:33:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:34:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:35:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:36:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:36:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:36:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 296 timesteps
+[05/10 14:36:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:36:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:36:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.24s (batch: 4.29s, save: 8.95s)
+[05/10 14:36:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
+  episode_total: mean=190.16s, total=190.16s, count=1, min=190164.7ms, max=190164.7ms
+  sensor_polling: mean=488.7ms, total=144.16s, count=295, min=455.0ms, max=681.2ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8948.3ms, max=8948.3ms
+  physics_step: mean=22.5ms, total=6.64s, count=295, min=16.4ms, max=31.9ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4288.2ms, max=4288.2ms
+  task_sampling: mean=577.4ms, total=577.4ms, count=1, min=577.4ms, max=577.4ms
+  task_specific_sample: mean=573.4ms, total=573.4ms, count=1, min=573.4ms, max=573.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=444.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:36:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:36:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:36:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:36:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:36:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:36:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:36:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:36:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:36:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:36:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:36:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.013m, effective arm-mount z=0.847m (base_body_z=-0.013m, pedestal_h=0.860m)
+[05/10 14:36:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:36:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:36:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.012607m
+[05/10 14:36:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:36:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:36:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:36:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:36:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:36:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02800107  0.74212275 -0.01260679] yaw=-150.2deg
+[05/10 14:36:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:36:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67419211  0.82398671 -0.01260679] yaw=-169.8deg
+[05/10 14:36:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:36:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:36:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07674616  1.13075256 -0.01260679] yaw=-130.3deg
+[05/10 14:36:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:36:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:36:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.6ms
+[05/10 14:36:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.028, 0.742, -0.013)
+[05/10 14:36:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.2 deg
+[05/10 14:36:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.723m
+[05/10 14:36:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:36:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:36:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:36:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:36:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:36:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 14:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 14:36:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:36:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:36:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 14:36:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.600s, found feasible grasp: True
+[05/10 14:36:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.287[m] 83.214[deg]
+[05/10 14:36:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:36:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:36:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:36:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:37:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:38:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:39:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:39:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:39:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 279 timesteps
+[05/10 14:39:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:39:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:39:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 12.57s (batch: 4.25s, save: 8.33s)
+[05/10 14:39:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.45s:
+  episode_total: mean=180.73s, total=180.73s, count=1, min=180734.6ms, max=180734.6ms
+  sensor_polling: mean=491.0ms, total=136.51s, count=278, min=467.2ms, max=763.3ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8325.9ms, max=8325.9ms
+  physics_step: mean=22.7ms, total=6.30s, count=278, min=16.2ms, max=83.8ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.5ms, max=4247.5ms
+  task_sampling: mean=454.8ms, total=454.8ms, count=1, min=454.8ms, max=454.8ms
+  task_specific_sample: mean=450.7ms, total=450.7ms, count=1, min=450.7ms, max=450.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=485.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:39:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:39:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:39:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:39:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:39:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:39:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:39:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:39:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:39:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:39:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:39:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
+[05/10 14:39:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:39:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:39:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020273m
+[05/10 14:39:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:39:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:39:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01622299  0.73026119  0.02027251] yaw=-169.3deg
+[05/10 14:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00297186  0.70286383  0.02027251] yaw=-152.9deg
+[05/10 14:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02887967  0.74812847  0.02027251] yaw=-168.7deg
+[05/10 14:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:39:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:39:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.3ms, total=173.3ms
+[05/10 14:39:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.730, 0.020)
+[05/10 14:39:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.3 deg
+[05/10 14:39:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.730m
+[05/10 14:39:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:39:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:39:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:39:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:39:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:39:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 14:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 14:39:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:39:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:39:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 14:39:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True
+[05/10 14:39:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.336[m] 96.185[deg]
+[05/10 14:39:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:39:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:39:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:40:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:40:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:42:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:42:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:42:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:42:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
+[05/10 14:42:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:42:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:42:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 14.21s (batch: 4.21s, save: 10.00s)
+[05/10 14:42:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.48s:
+  episode_total: mean=188.57s, total=188.57s, count=1, min=188567.1ms, max=188567.1ms
+  sensor_polling: mean=490.6ms, total=141.29s, count=288, min=455.0ms, max=692.6ms
+  save_trajectories: mean=10.00s, total=10.00s, count=1, min=9997.3ms, max=9997.3ms
+  physics_step: mean=23.2ms, total=6.68s, count=288, min=17.1ms, max=35.3ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4211.0ms, max=4211.0ms
+  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
+  task_specific_sample: mean=477.4ms, total=477.4ms, count=1, min=477.4ms, max=477.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=433.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:42:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:42:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:42:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:42:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:42:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:42:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:42:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:42:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:42:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:42:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:42:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.015m, effective arm-mount z=0.845m (base_body_z=-0.015m, pedestal_h=0.860m)
+[05/10 14:42:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:42:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:42:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.014618m
+[05/10 14:42:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:42:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:42:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:42:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68837046  0.40970926 -0.01461789] yaw=178.3deg
+[05/10 14:42:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:42:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:42:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80869465  0.83185284 -0.01461789] yaw=-154.2deg
+[05/10 14:42:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:42:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86752704  0.34859691 -0.01461789] yaw=167.4deg
+[05/10 14:42:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:42:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:42:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.1ms
+[05/10 14:42:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.410, -0.015)
+[05/10 14:42:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.3 deg
+[05/10 14:42:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.017m
+[05/10 14:42:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:42:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:42:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:42:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:42:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:42:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 14:42:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/10 14:42:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:42:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:42:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.091s, found 88 non-colliding grasps
+[05/10 14:42:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
+[05/10 14:42:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.579[m] 90.968[deg]
+[05/10 14:42:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:43:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:43:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:43:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:45:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 14:45:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:45:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_001 batch 4/4: 1 episodes
+[05/10 14:45:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 14:45:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 14:45:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_001
+[05/10 14:45:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_001 in 13.78s (batch: 4.91s, save: 8.87s)
+[05/10 14:45:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.53s:
+  episode_total: mean=192.25s, total=192.25s, count=1, min=192250.3ms, max=192250.3ms
+  sensor_polling: mean=482.2ms, total=144.66s, count=300, min=450.0ms, max=643.3ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8869.2ms, max=8869.2ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=16.4ms, max=30.8ms
+  save_batch_prep: mean=4.91s, total=4.91s, count=1, min=4910.1ms, max=4910.1ms
+  task_sampling: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms
+  task_specific_sample: mean=522.3ms, total=522.3ms, count=1, min=522.3ms, max=522.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=466.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 14:45:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 14:45:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 14:45:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 14:45:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:45:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:45:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:45:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:45:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 14:45:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 14:45:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 14:45:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=-0.039m, effective arm-mount z=0.821m (base_body_z=-0.039m, pedestal_h=0.860m)
+[05/10 14:45:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 14:45:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 14:45:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.039477m
+[05/10 14:45:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.700m - 1.100m
+[05/10 14:45:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 14:45:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 14112 free points within sampling radius
+[05/10 14:45:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:45:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.13657809  1.09979939 -0.03947692] yaw=-122.6deg
+[05/10 14:45:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 14:45:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:45:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 14:45:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73445149  0.90373671 -0.03947692] yaw=-167.8deg
+[05/10 14:45:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 14:45:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95759567  0.13257738 -0.03947692] yaw=159.8deg
+[05/10 14:45:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 14:45:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 14:45:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.2ms, total=175.2ms
+[05/10 14:45:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.137, 1.100, -0.039)
+[05/10 14:45:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -122.6 deg
+[05/10 14:45:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.838m
+[05/10 14:45:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 14:45:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 14:45:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 14:45:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 14:45:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 14:45:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 14:45:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 14:45:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:45:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:45:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 14:45:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.745s, found feasible grasp: True
+[05/10 14:45:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.448[m] 94.278[deg]
+[05/10 14:45:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 14:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 14:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 14:46:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 14:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 14:46:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 14:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 14:48:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 14:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 14:48:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 14:48:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 14:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 14:48:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 14:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 14:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 14:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 14:48:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 14:48:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 14:48:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
+[05/10 14:48:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.736s, found feasible grasp: True
+[05/10 14:48:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.109[m] 0.779[deg]
+[05/10 14:48:24 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 14:48:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
+[05/10 14:48:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_001
+[05/10 14:48:26 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
+[05/10 14:48:26 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4666.86s
+  House averages:
+  episode_total: mean=140.13s, total=2522.27s, count=18, min=178.3ms, max=206451.3ms
+  sensor_polling: mean=483.2ms, total=1884.61s, count=3900, min=433.8ms, max=838.7ms
+  save_trajectories: mean=8.83s, total=97.08s, count=11, min=8284.0ms, max=9997.3ms
+  physics_step: mean=22.6ms, total=87.96s, count=3900, min=15.6ms, max=83.8ms
+  save_batch_prep: mean=4.31s, total=47.36s, count=11, min=3827.0ms, max=4910.1ms
+  task_sampling: mean=703.0ms, total=11.25s, count=16, min=382.2ms, max=3896.5ms
+  task_specific_sample: mean=458.0ms, total=8.24s, count=18, min=172.1ms, max=672.5ms
+  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
+  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
+  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
+  task_sampling_failed: mean=181.0ms, total=362.1ms, count=2, min=178.3ms, max=183.8ms
+  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
+  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
+  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.2ms, total=39.7ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=467.1us, total=8.4ms, count=18, min=0.4ms, max=0.9ms
+  policy_setup: mean=20.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 14:48:26 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 14:48:26 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4666.86s
+  Worker averages:
+  episode_total: mean=140.13s, total=2522.27s, count=18, min=178.3ms, max=206451.3ms
+  sensor_polling: mean=483.2ms, total=1884.61s, count=3900, min=433.8ms, max=838.7ms
+  save_trajectories: mean=8.83s, total=97.08s, count=11, min=8284.0ms, max=9997.3ms
+  physics_step: mean=22.6ms, total=87.96s, count=3900, min=15.6ms, max=83.8ms
+  save_batch_prep: mean=4.31s, total=47.36s, count=11, min=3827.0ms, max=4910.1ms
+  task_sampling: mean=703.0ms, total=11.25s, count=16, min=382.2ms, max=3896.5ms
+  task_specific_sample: mean=458.0ms, total=8.24s, count=18, min=172.1ms, max=672.5ms
+  scene_load: mean=3.29s, total=3.29s, count=1, min=3294.0ms, max=3294.0ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2044.2ms, max=2044.2ms
+  scene_compile: mean=945.4ms, total=945.4ms, count=1, min=945.4ms, max=945.4ms
+  compile_mujoco: mean=740.3ms, total=740.3ms, count=1, min=740.3ms, max=740.3ms
+  task_sampling_failed: mean=181.0ms, total=362.1ms, count=2, min=178.3ms, max=183.8ms
+  scene_init: mean=181.7ms, total=181.7ms, count=1, min=181.7ms, max=181.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_asset_install: mean=122.3ms, total=122.3ms, count=1, min=122.3ms, max=122.3ms
+  asset_install_grasps: mean=57.8ms, total=57.8ms, count=1, min=57.8ms, max=57.8ms
+  asset_install_objects: mean=52.3ms, total=52.3ms, count=1, min=52.3ms, max=52.3ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.2ms, total=39.7ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_scene: mean=12.2ms, total=12.2ms, count=1, min=12.2ms, max=12.2ms
+  compile_robot_add: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=467.1us, total=8.4ms, count=18, min=0.4ms, max=0.9ms
+  policy_setup: mean=20.1us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 14:48:29 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 14:48:29 INFO pipeline.py:1491] Success count: 11, Total count: 11
+[05/10 14:48:29 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_001
+==========================================
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+05/10 15:00:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 15:00:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 15:00:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 15:00:54 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
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+                                'name': 'exo_camera_1',
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+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
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+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
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+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
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+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
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+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
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+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20202,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
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+                 'articulation_object_name': None,
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+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 15:00:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 15:00:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 15:00:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 15:00:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 15:00:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 15:00:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 15:00:54 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x6ffc04edab90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20204,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 15:00:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 15:00:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 15:00:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 15:00:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 15:00:54 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 15:00:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 15:00:54 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 15:00:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 15:00:54 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7e451c2c8250>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20203,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 15:00:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 15:00:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 15:00:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 15:00:55 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 15:00:55 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 15:00:55 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 15:00:55 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 15:00:55 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x766e8ad0a310>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20201,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 15:00:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 15:00:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 15:00:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 15:00:55 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 15:00:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 15:00:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 15:00:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 15:00:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 15:00:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 15:00:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 15:00:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053209m	[env.py: 870]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:00:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 15:00:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 15:00:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 15:00:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069727m	[env.py: 870]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:00:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:00:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 15:00:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78023289  0.25399705  0.06972744] yaw=175.1deg	[env.py: 1019]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 15:00:57 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 15:00:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:00:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:00:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:00:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:00:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:00:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036580m	[env.py: 870]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:00:57 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08544823  1.25047879  0.05320852] yaw=-135.9deg	[env.py: 1019]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88498926  0.94101857  0.05320852] yaw=-140.7deg	[env.py: 1019]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89884597  0.91028408  0.03658038] yaw=-141.5deg	[env.py: 1019]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12271724  1.21008531  0.06972744] yaw=-137.8deg	[env.py: 1019]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15053653  1.00781717  0.03658038] yaw=-125.3deg	[env.py: 1019]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=11.7ms, retries=287.4ms, total=299.2ms	[env.py: 1075]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.250, 0.053)	[env.py: 1079]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00025005  0.97762813  0.03658038] yaw=-143.7deg	[env.py: 1019]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=18.0ms, retries=195.5ms, total=213.5ms	[env.py: 1075]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.910, 0.037)	[env.py: 1079]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg	[env.py: 1082]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:00:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=18.7ms, retries=437.3ms, total=455.9ms	[env.py: 1075]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.254, 0.070)	[env.py: 1079]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.1 deg	[env.py: 1082]
+05/10 15:00:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:00:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:00:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:00:57 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:00:57 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 15:00:57 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 15:00:57 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 15:00:58 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 15:00:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:00:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:00:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:00:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:00:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051103m	[env.py: 870]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:00:58 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6891747   0.70851847  0.05110259] yaw=-172.9deg	[env.py: 1019]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03203777  1.00534542  0.05110259] yaw=-133.3deg	[env.py: 1019]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98854436  1.08197534  0.05110259] yaw=-148.8deg	[env.py: 1019]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:00:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=11.8ms, retries=79.3ms, total=91.2ms	[env.py: 1075]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.709, 0.051)	[env.py: 1079]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg	[env.py: 1082]
+05/10 15:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:00:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:00:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:00:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:00:58 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:01:21 INFO: [Worker 0] Warmed up parallel IK solver in 23.521s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:01:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:01:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:01:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:01:22 INFO: [Worker 0] Warmed up parallel IK solver in 23.939s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:01:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:01:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:01:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:01:22 INFO: [Worker 0] Warmed up parallel IK solver in 24.706s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:01:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:01:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:01:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:01:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:01:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 99.326[deg]	[grasp_sample.py: 539]
+05/10 15:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:01:23 INFO: [Worker 0] Warmed up parallel IK solver in 24.862s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:01:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:01:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:01:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:01:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 85.895[deg]	[grasp_sample.py: 539]
+05/10 15:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:01:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:01:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.405s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:01:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 89.179[deg]	[grasp_sample.py: 539]
+05/10 15:01:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:01:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.508[m] 86.733[deg]	[grasp_sample.py: 539]
+05/10 15:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:01:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:01:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:01:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:01:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:01:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:01:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:01:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:02:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:02:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:02:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:02:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:03:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:03:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:03:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:03:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:03:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.462s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:03:09 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.612[deg]	[grasp_sample.py: 539]
+05/10 15:03:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:03:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:03:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:03:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:03:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:03:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:03:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:03:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:03:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:03:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:03:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.829[deg]	[grasp_sample.py: 539]
+05/10 15:03:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:35 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:36 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:03:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:03:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:03:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:03:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:03:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:03:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:03:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:03:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:03:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:03:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053249m	[env.py: 870]
+05/10 15:03:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:03:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76947175  0.82204472  0.05324942] yaw=-168.3deg	[env.py: 1019]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92157622  0.77025892  0.05324942] yaw=-163.4deg	[env.py: 1019]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85212985  0.82298881  0.05324942] yaw=-147.3deg	[env.py: 1019]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:03:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.8ms, total=317.8ms	[env.py: 1075]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.822, 0.053)	[env.py: 1079]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg	[env.py: 1082]
+05/10 15:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/10 15:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:03:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:03:37 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:03:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:03:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:03:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:03:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:03:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 92.419[deg]	[grasp_sample.py: 539]
+05/10 15:03:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:03:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:03:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:39 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:03:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:03:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:03:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:03:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:03:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:03:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:03:46 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.318s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:03:46 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.774[deg]	[grasp_sample.py: 539]
+05/10 15:03:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:03:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:03:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:03:54 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:03:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:03:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:03:55 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 15:03:55 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=3.33s:
+  episode_total: mean=180.92s, total=180.92s, count=1, min=180917.1ms, max=180917.1ms
+  sensor_polling: mean=419.5ms, total=125.86s, count=300, min=389.3ms, max=544.1ms
+  physics_step: mean=18.2ms, total=5.46s, count=300, min=15.0ms, max=30.7ms
+  task_sampling: mean=3.33s, total=3.33s, count=1, min=3329.4ms, max=3329.4ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
+  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
+  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
+  task_specific_sample: mean=534.6ms, total=534.6ms, count=1, min=534.6ms, max=534.6ms
+  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
+  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=376.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:03:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:03:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:03:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:03:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:03:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:03:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:03:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085045m	[env.py: 870]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:03:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74069557  0.41509991  0.08504468] yaw=185.7deg	[env.py: 1019]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0465061   1.04210827  0.08504468] yaw=-146.7deg	[env.py: 1019]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93691723  0.93716346  0.08504468] yaw=-144.4deg	[env.py: 1019]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:03:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.0ms, total=80.0ms	[env.py: 1075]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.415, 0.085)	[env.py: 1079]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.7 deg	[env.py: 1082]
+05/10 15:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:03:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:03:57 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:03:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:03:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:03:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:03:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:03:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:03:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.503[m] 83.962[deg]	[grasp_sample.py: 539]
+05/10 15:03:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:03:58 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:03:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:03:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:03:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:03:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:04:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:04:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.30s (batch: 3.71s, save: 7.59s)	[pipeline.py: 300]
+05/10 15:04:06 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.26s:
+  episode_total: mean=192.06s, total=192.06s, count=1, min=192057.3ms, max=192057.3ms
+  sensor_polling: mean=417.1ms, total=125.13s, count=300, min=396.1ms, max=667.9ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7589.2ms, max=7589.2ms
+  physics_step: mean=18.6ms, total=5.59s, count=300, min=14.1ms, max=28.0ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3709.9ms, max=3709.9ms
+  task_sampling: mean=3.26s, total=3.26s, count=1, min=3255.3ms, max=3255.3ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
+  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
+  task_specific_sample: mean=550.3ms, total=550.3ms, count=1, min=550.3ms, max=550.3ms
+  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
+  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
+  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
+  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
+  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=503.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=46.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:04:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:04:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:04:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:04:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:04:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:04:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:04:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082377m	[env.py: 870]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:04:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96994627  0.73308291  0.08237687] yaw=-158.5deg	[env.py: 1019]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89392284  0.18969515  0.08237687] yaw=158.9deg	[env.py: 1019]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91710894  0.65932631  0.08237687] yaw=-165.4deg	[env.py: 1019]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:04:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms	[env.py: 1075]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.733, 0.082)	[env.py: 1079]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
+05/10 15:04:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:04:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:04:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:04:08 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:04:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:04:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:04:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:04:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:04:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:04:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 103.583[deg]	[grasp_sample.py: 539]
+05/10 15:04:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:04:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:04:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:04:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.43s (batch: 3.86s, save: 7.58s)	[pipeline.py: 300]
+05/10 15:04:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:04:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:10 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.07s:
+  episode_total: mean=195.20s, total=195.20s, count=1, min=195197.9ms, max=195197.9ms
+  sensor_polling: mean=425.4ms, total=127.63s, count=300, min=397.2ms, max=599.1ms
+  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7575.4ms, max=7575.4ms
+  physics_step: mean=18.7ms, total=5.61s, count=300, min=15.5ms, max=27.6ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3858.9ms, max=3858.9ms
+  task_sampling: mean=3.07s, total=3.07s, count=1, min=3072.7ms, max=3072.7ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
+  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
+  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
+  task_specific_sample: mean=330.7ms, total=330.7ms, count=1, min=330.7ms, max=330.7ms
+  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
+  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
+  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=438.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=34.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:04:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:04:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:04:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:04:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:04:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:04:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:04:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025738m	[env.py: 870]
+05/10 15:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:04:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81251336  0.40575623  0.02573833] yaw=164.3deg	[env.py: 1019]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63638621  0.53433413  0.02573833] yaw=-182.8deg	[env.py: 1019]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:04:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms	[env.py: 1075]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.406, 0.026)	[env.py: 1079]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
+05/10 15:04:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/10 15:04:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:04:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:04:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:04:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:04:12 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:04:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:04:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:04:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:04:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:04:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:04:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.485[m] 96.677[deg]	[grasp_sample.py: 539]
+05/10 15:04:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:04:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:04:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:04:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:04:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:04:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:04:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:05:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:05:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:05:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:13 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:06:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:06:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:06:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:06:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:06:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:06:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:06:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.104[deg]	[grasp_sample.py: 539]
+05/10 15:06:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:06:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:06:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:06:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:06:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:06:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:06:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.62s (batch: 4.22s, save: 7.40s)	[pipeline.py: 300]
+05/10 15:06:25 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.37s:
+  episode_total: mean=164.55s, total=329.11s, count=2, min=160887.4ms, max=168217.8ms
+  sensor_polling: mean=425.9ms, total=240.62s, count=565, min=368.4ms, max=615.7ms
+  physics_step: mean=19.4ms, total=10.94s, count=565, min=14.2ms, max=32.9ms
+  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7400.7ms, max=7400.7ms
+  task_sampling: mean=2.19s, total=4.37s, count=2, min=587.7ms, max=3783.9ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4223.5ms, max=4223.5ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
+  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
+  task_specific_sample: mean=679.3ms, total=1.36s, count=2, min=585.2ms, max=773.4ms
+  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
+  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
+  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
+  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.0ms, max=1.3ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=367.7us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:06:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:06:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:06:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:06:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087335m	[env.py: 870]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70560077  0.50577496  0.08733465] yaw=-167.4deg	[env.py: 1019]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67504379  0.57067181  0.08733465] yaw=-177.3deg	[env.py: 1019]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91832578  0.79003984  0.08733465] yaw=-166.8deg	[env.py: 1019]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.1ms	[env.py: 1075]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.506, 0.087)	[env.py: 1079]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg	[env.py: 1082]
+05/10 15:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:06:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:06:27 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:06:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:06:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:06:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:06:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:06:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:06:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.598[m] 95.117[deg]	[grasp_sample.py: 539]
+05/10 15:06:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:06:27 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:06:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:06:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:06:29 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:06:30 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:06:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:06:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:06:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:06:49 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:06:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:06:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:06:50 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:06:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:06:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:06:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:06:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:06:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.34s (batch: 3.84s, save: 7.50s)	[pipeline.py: 300]
+05/10 15:06:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s:
+  episode_total: mean=170.28s, total=170.28s, count=1, min=170279.5ms, max=170279.5ms
+  sensor_polling: mean=433.3ms, total=130.00s, count=300, min=396.0ms, max=689.4ms
+  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7496.9ms, max=7496.9ms
+  physics_step: mean=19.1ms, total=5.72s, count=300, min=14.1ms, max=28.8ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.3ms, max=3843.3ms
+  task_sampling: mean=480.6ms, total=480.6ms, count=1, min=480.6ms, max=480.6ms
+  task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=401.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:07:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:07:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:07:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:07:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032421m	[env.py: 870]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84023761  0.2740782   0.03242079] yaw=171.6deg	[env.py: 1019]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:07:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.5ms	[env.py: 1075]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.274, 0.032)	[env.py: 1079]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg	[env.py: 1082]
+05/10 15:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:07:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:07:00 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:07:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:07:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:07:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:07:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:07:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:07:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:07:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.41s (batch: 3.98s, save: 7.43s)	[pipeline.py: 300]
+05/10 15:07:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:07:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.417[m] 82.088[deg]	[grasp_sample.py: 539]
+05/10 15:07:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:07:01 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.31s:
+  episode_total: mean=184.32s, total=184.32s, count=1, min=184319.6ms, max=184319.6ms
+  sensor_polling: mean=428.4ms, total=128.51s, count=300, min=378.5ms, max=633.3ms
+  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7429.7ms, max=7429.7ms
+  physics_step: mean=18.2ms, total=5.47s, count=300, min=12.3ms, max=28.9ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.5ms, max=3980.5ms
+  task_sampling: mean=310.2ms, total=310.2ms, count=1, min=310.2ms, max=310.2ms
+  task_specific_sample: mean=307.8ms, total=307.8ms, count=1, min=307.8ms, max=307.8ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:07:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:07:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:07:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:07:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.65s (batch: 3.84s, save: 7.80s)	[pipeline.py: 300]
+05/10 15:07:03 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s:
+  episode_total: mean=171.06s, total=171.06s, count=1, min=171060.8ms, max=171060.8ms
+  sensor_polling: mean=426.4ms, total=127.92s, count=300, min=384.6ms, max=620.9ms
+  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7802.4ms, max=7802.4ms
+  physics_step: mean=20.1ms, total=6.04s, count=300, min=14.8ms, max=29.8ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3844.4ms, max=3844.4ms
+  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
+  task_specific_sample: mean=452.8ms, total=452.8ms, count=1, min=452.8ms, max=452.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=383.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:07:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:07:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:07:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:07:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:07:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:07:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:07:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000002m	[env.py: 870]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:07:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.07902449e-01  7.88697449e-01  2.41280722e-06] yaw=-169.0deg	[env.py: 1019]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.96010881e-01  1.10399013e+00  2.41280722e-06] yaw=-141.1deg	[env.py: 1019]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-6.59977840e-01  7.48446373e-01  2.41280722e-06] yaw=-165.3deg	[env.py: 1019]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:07:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.2ms, total=180.3ms	[env.py: 1075]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.789, 0.000)	[env.py: 1079]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
+05/10 15:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:07:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:07:03 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:07:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:07:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:07:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:07:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:07:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:07:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:07:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:07:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:07:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:07:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:07:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036849m	[env.py: 870]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:07:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12790014  1.17801895  0.03684898] yaw=-122.9deg	[env.py: 1019]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93997321  0.84389195  0.03684898] yaw=-159.5deg	[env.py: 1019]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73304657  0.2382169   0.03684898] yaw=170.9deg	[env.py: 1019]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:07:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.0ms	[env.py: 1075]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.128, 1.178, 0.037)	[env.py: 1079]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.9 deg	[env.py: 1082]
+05/10 15:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:07:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:07:05 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:07:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:07:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:07:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.584[m] 86.671[deg]	[grasp_sample.py: 539]
+05/10 15:07:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:07:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:07:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:07:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:07:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 80.244[deg]	[grasp_sample.py: 539]
+05/10 15:07:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:07:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:07:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:07:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:07:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:07:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:07:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:08:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:08:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:08:43 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:08:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:09:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:09:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:09:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:09:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:09:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:09:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:09:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:09:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:09:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:09:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:09:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:09:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:09:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:09:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:09:08 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:09:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.023[deg]	[grasp_sample.py: 539]
+05/10 15:09:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:09:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:09:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:09:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:09:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:09:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:09:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:09:09 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.335[deg]	[grasp_sample.py: 539]
+05/10 15:09:10 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:09:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:09:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:09:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:09:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:09:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032027m	[env.py: 870]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92212591  0.49160605  0.03202726] yaw=-190.7deg	[env.py: 1019]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84923984  0.53764319  0.03202726] yaw=-181.3deg	[env.py: 1019]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81781825  0.98265701  0.03202726] yaw=-141.6deg	[env.py: 1019]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.3ms, total=90.3ms	[env.py: 1075]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.492, 0.032)	[env.py: 1079]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -190.7 deg	[env.py: 1082]
+05/10 15:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:09:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:09:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:09:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:09:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:09:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:09:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:09:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:09:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.367[m] 97.342[deg]	[grasp_sample.py: 539]
+05/10 15:09:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:09:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.28s (batch: 3.97s, save: 7.31s)	[pipeline.py: 300]
+05/10 15:09:21 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s:
+  episode_total: mean=174.89s, total=174.89s, count=1, min=174889.2ms, max=174889.2ms
+  sensor_polling: mean=424.2ms, total=127.25s, count=300, min=368.0ms, max=647.7ms
+  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7312.4ms, max=7312.4ms
+  physics_step: mean=19.0ms, total=5.71s, count=300, min=14.0ms, max=35.4ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3967.4ms, max=3967.4ms
+  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
+  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:09:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:09:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031032m	[env.py: 870]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92378805  0.74801072  0.03103215] yaw=-169.0deg	[env.py: 1019]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98838141  0.09653354  0.03103215] yaw=151.6deg	[env.py: 1019]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6800414   0.09464083  0.03103215] yaw=157.3deg	[env.py: 1019]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.9ms, total=104.9ms	[env.py: 1075]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.748, 0.031)	[env.py: 1079]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
+05/10 15:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:09:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:09:23 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:09:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:09:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:09:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:09:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:09:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:09:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:09:24 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.410[m] 84.474[deg]	[grasp_sample.py: 539]
+05/10 15:09:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:09:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:09:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:09:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:09:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:09:40 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:09:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:09:51 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:09:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:09:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:09:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:10:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:10:02 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:10:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:10:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:10:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:10:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:10:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:10:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.57s (batch: 3.71s, save: 7.86s)	[pipeline.py: 300]
+05/10 15:10:03 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
+  episode_total: mean=180.59s, total=180.59s, count=1, min=180593.2ms, max=180593.2ms
+  sensor_polling: mean=444.2ms, total=133.26s, count=300, min=375.9ms, max=678.7ms
+  save_trajectories: mean=7.86s, total=7.86s, count=1, min=7864.7ms, max=7864.7ms
+  physics_step: mean=20.1ms, total=6.03s, count=300, min=15.2ms, max=56.6ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3707.4ms, max=3707.4ms
+  task_sampling: mean=433.6ms, total=433.6ms, count=1, min=433.6ms, max=433.6ms
+  task_specific_sample: mean=430.0ms, total=430.0ms, count=1, min=430.0ms, max=430.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=378.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:10:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:10:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:10:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:10:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:10:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095425m	[env.py: 870]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65203013  0.34418261  0.09542541] yaw=175.2deg	[env.py: 1019]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:10:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.2ms, total=176.2ms	[env.py: 1075]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.344, 0.095)	[env.py: 1079]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
+05/10 15:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:10:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:10:05 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:10:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:10:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:10:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:10:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.251s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:10:07 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.577[m] 82.406[deg]	[grasp_sample.py: 539]
+05/10 15:10:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:10:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:10:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:10:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:10:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:10:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:10:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 15.41s (batch: 4.16s, save: 11.25s)	[pipeline.py: 300]
+05/10 15:10:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:10:18 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
+  episode_total: mean=198.28s, total=198.28s, count=1, min=198279.6ms, max=198279.6ms
+  sensor_polling: mean=450.3ms, total=135.10s, count=300, min=399.2ms, max=680.4ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11247.3ms, max=11247.3ms
+  physics_step: mean=21.5ms, total=6.44s, count=300, min=14.0ms, max=71.3ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.3ms, max=4158.3ms
+  task_sampling: mean=447.5ms, total=447.5ms, count=1, min=447.5ms, max=447.5ms
+  task_specific_sample: mean=444.2ms, total=444.2ms, count=1, min=444.2ms, max=444.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=377.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:10:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:10:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:10:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:10:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:10:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:10:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:10:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077367m	[env.py: 870]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:10:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99368348  0.15498562  0.07736748] yaw=145.1deg	[env.py: 1019]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05468775  0.90873179  0.07736748] yaw=-144.0deg	[env.py: 1019]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88689625  0.48472662  0.07736748] yaw=-188.5deg	[env.py: 1019]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:10:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms	[env.py: 1075]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.155, 0.077)	[env.py: 1079]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.1 deg	[env.py: 1082]
+05/10 15:10:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:10:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:10:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:10:20 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:10:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:10:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:10:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:10:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:10:21 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.346[m] 88.499[deg]	[grasp_sample.py: 539]
+05/10 15:10:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:10:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:10:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:10:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:11:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:11:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:11:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:11:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:11:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:11:34 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:11:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:11:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:11:50 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:11:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:11:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:11:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:11:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:11:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:11:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:11:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.401s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:11:52 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg]	[grasp_sample.py: 539]
+05/10 15:11:53 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:11:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:11:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:11:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:11:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:11:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:11:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:11:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088089m	[env.py: 870]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:11:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06009079  1.12935863  0.08808877] yaw=-146.1deg	[env.py: 1019]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7225686   0.92062734  0.08808877] yaw=-154.4deg	[env.py: 1019]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93997913  0.7646681   0.08808877] yaw=-152.2deg	[env.py: 1019]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:11:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.5ms, total=115.6ms	[env.py: 1075]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.060, 1.129, 0.088)	[env.py: 1079]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
+05/10 15:11:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:11:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:11:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:11:55 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:11:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:11:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:11:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:11:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:11:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:11:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:11:57 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/10 15:11:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.418s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:11:59 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.549[m] 102.853[deg]	[grasp_sample.py: 539]
+05/10 15:11:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:12:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:12:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:12:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:12:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:12:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.50s (batch: 3.96s, save: 10.54s)	[pipeline.py: 300]
+05/10 15:12:12 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.72s:
+  episode_total: mean=153.08s, total=306.16s, count=2, min=126177.5ms, max=179984.8ms
+  sensor_polling: mean=439.6ms, total=231.24s, count=526, min=377.8ms, max=711.0ms
+  physics_step: mean=20.9ms, total=11.00s, count=526, min=14.2ms, max=50.5ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.9ms, max=10538.9ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.2ms, max=3960.2ms
+  task_sampling: mean=357.6ms, total=715.2ms, count=2, min=322.1ms, max=393.1ms
+  task_specific_sample: mean=354.3ms, total=708.5ms, count=2, min=319.3ms, max=389.3ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=403.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:12:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:12:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:12:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:12:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:12:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:12:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:12:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:12:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:12:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:12:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021003m	[env.py: 870]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:12:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93511618  0.32450016  0.02100292] yaw=177.1deg	[env.py: 1019]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:12:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.5ms, total=281.6ms	[env.py: 1075]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.325, 0.021)	[env.py: 1079]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg	[env.py: 1082]
+05/10 15:12:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m	[env.py: 1086]
+05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:12:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:12:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:12:14 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:12:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:12:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:12:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:12:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:12:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:12:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.358[m] 88.700[deg]	[grasp_sample.py: 539]
+05/10 15:12:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:12:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:12:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:12:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:12:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:12:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:12:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:12:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:12:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:12:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:12:25 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:12:25 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.103[deg]	[grasp_sample.py: 539]
+05/10 15:12:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:12:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:12:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:12:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.82s (batch: 3.81s, save: 8.01s)	[pipeline.py: 300]
+05/10 15:12:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:12:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:12:25 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.41s:
+  episode_total: mean=182.69s, total=182.69s, count=1, min=182694.6ms, max=182694.6ms
+  sensor_polling: mean=453.7ms, total=136.10s, count=300, min=383.3ms, max=806.7ms
+  save_trajectories: mean=8.01s, total=8.01s, count=1, min=8007.1ms, max=8007.1ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=14.6ms, max=49.9ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3812.3ms, max=3812.3ms
+  task_sampling: mean=405.2ms, total=405.2ms, count=1, min=405.2ms, max=405.2ms
+  task_specific_sample: mean=401.7ms, total=401.7ms, count=1, min=401.7ms, max=401.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=368.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:12:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:12:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:12:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:12:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:12:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:12:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:12:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078753m	[env.py: 870]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:12:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72688142  0.36417524  0.07875303] yaw=171.7deg	[env.py: 1019]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08394681  1.08118678  0.07875303] yaw=-139.4deg	[env.py: 1019]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96252174  1.10673818  0.07875303] yaw=-144.6deg	[env.py: 1019]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:12:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.7ms, total=260.8ms	[env.py: 1075]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.364, 0.079)	[env.py: 1079]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
+05/10 15:12:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:12:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:12:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:12:27 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:12:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:12:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:12:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:12:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:12:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:12:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.557[m] 94.329[deg]	[grasp_sample.py: 539]
+05/10 15:12:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:12:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:12:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:12:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:12:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:12:43 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:12:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:12:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:12:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:13:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:13:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:04 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:13:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:13:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:13:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:13:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:13:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.34s (batch: 3.85s, save: 10.49s)	[pipeline.py: 300]
+05/10 15:13:19 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s:
+  episode_total: mean=194.07s, total=194.07s, count=1, min=194067.9ms, max=194067.9ms
+  sensor_polling: mean=451.6ms, total=135.49s, count=300, min=368.4ms, max=743.9ms
+  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10490.4ms, max=10490.4ms
+  physics_step: mean=21.0ms, total=6.31s, count=300, min=13.9ms, max=65.0ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3845.2ms, max=3845.2ms
+  task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms
+  task_specific_sample: mean=457.6ms, total=457.6ms, count=1, min=457.6ms, max=457.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=416.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:13:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:13:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:13:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:13:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:13:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:13:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:13:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099813m	[env.py: 870]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:13:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93795384  0.66294678  0.09981321] yaw=-160.1deg	[env.py: 1019]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08619709  0.9339351   0.09981321] yaw=-149.5deg	[env.py: 1019]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79921174  0.38002563  0.09981321] yaw=178.0deg	[env.py: 1019]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:13:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.1ms, total=330.1ms	[env.py: 1075]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.663, 0.100)	[env.py: 1079]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg	[env.py: 1082]
+05/10 15:13:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:13:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:13:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:13:21 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:13:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:13:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:13:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:13:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:13:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.341s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:13:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.328[m] 79.033[deg]	[grasp_sample.py: 539]
+05/10 15:13:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:13:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:13:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 15:13:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:13:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:13:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:13:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:13:29 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:13:29 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.117[m] 0.720[deg]	[grasp_sample.py: 539]
+05/10 15:13:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:13:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:13:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:13:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:13:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:13:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:13:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:13:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:13:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:13:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:13:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:13:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:13:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:13:52 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.484[deg]	[grasp_sample.py: 539]
+05/10 15:13:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:13:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:13:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:13:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:14:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:14:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:14:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:14:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:14:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:14:23 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:14:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:14:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:14:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:14:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:14:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:14:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.351s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:14:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.297[deg]	[grasp_sample.py: 539]
+05/10 15:14:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:14:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:14:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:14:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:14:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.56s (batch: 4.59s, save: 8.97s)	[pipeline.py: 300]
+05/10 15:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.69s:
+  episode_total: mean=138.17s, total=276.35s, count=2, min=93130.9ms, max=183217.0ms
+  sensor_polling: mean=446.6ms, total=208.57s, count=467, min=376.0ms, max=746.5ms
+  physics_step: mean=20.5ms, total=9.58s, count=467, min=14.3ms, max=43.3ms
+  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8971.2ms, max=8971.2ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.4ms, max=4589.4ms
+  task_sampling: mean=344.1ms, total=688.2ms, count=2, min=325.0ms, max=363.3ms
+  task_specific_sample: mean=340.8ms, total=681.7ms, count=2, min=321.8ms, max=359.9ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.4ms, max=2.2ms
+  mj_forward_sync: mean=463.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:14:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:14:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:14:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:14:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:14:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:14:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:14:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:14:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078336m	[env.py: 870]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:14:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79972811  0.34612724  0.07833636] yaw=160.9deg	[env.py: 1019]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8327704   0.39363258  0.07833636] yaw=185.6deg	[env.py: 1019]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.63431872  0.24141957  0.07833636] yaw=169.9deg	[env.py: 1019]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:14:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms	[env.py: 1075]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.346, 0.078)	[env.py: 1079]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.9 deg	[env.py: 1082]
+05/10 15:14:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:14:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:14:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:14:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:15:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:15:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:15:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:15:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:15:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.426[m] 77.445[deg]	[grasp_sample.py: 539]
+05/10 15:15:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:15:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:15:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:15:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:15:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:15:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:15:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:15:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:15:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:15:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.126s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:15:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.567[deg]	[grasp_sample.py: 539]
+05/10 15:15:03 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:15:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:15:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:15:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061075m	[env.py: 870]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7674402   0.25677329  0.06107542] yaw=170.8deg	[env.py: 1019]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70814616  0.17045231  0.06107542] yaw=154.8deg	[env.py: 1019]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:15:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms	[env.py: 1075]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.257, 0.061)	[env.py: 1079]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg	[env.py: 1082]
+05/10 15:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:15:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:15:05 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:15:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:15:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:15:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:15:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:15:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:15:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.542[m] 93.965[deg]	[grasp_sample.py: 539]
+05/10 15:15:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:15:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:15:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:15:07 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:15:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:15:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:15:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:15:39 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:15:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:15:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:15:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:15:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.48s (batch: 3.77s, save: 7.71s)	[pipeline.py: 300]
+05/10 15:15:42 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=195.51s, total=195.51s, count=1, min=195510.2ms, max=195510.2ms
+  sensor_polling: mean=451.6ms, total=135.47s, count=300, min=377.2ms, max=824.0ms
+  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7710.1ms, max=7710.1ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=13.1ms, max=66.1ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3768.3ms, max=3768.3ms
+  task_sampling: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
+  task_specific_sample: mean=487.3ms, total=487.3ms, count=1, min=487.3ms, max=487.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=374.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:15:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:15:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:15:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:15:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:15:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:15:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:15:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084600m	[env.py: 870]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:15:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85888419  0.27667371  0.08459955] yaw=156.4deg	[env.py: 1019]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88504695  0.2310756   0.08459955] yaw=172.0deg	[env.py: 1019]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76842707  0.21556228  0.08459955] yaw=156.8deg	[env.py: 1019]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:15:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.4ms, total=139.4ms	[env.py: 1075]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.277, 0.085)	[env.py: 1079]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg	[env.py: 1082]
+05/10 15:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:15:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:15:44 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:15:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:15:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:15:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:15:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:15:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:15:45 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.451[m] 89.535[deg]	[grasp_sample.py: 539]
+05/10 15:15:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:15:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:15:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:15:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:15:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:15:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:16:03 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:16:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:16:03 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/10 15:16:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:16:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:16:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:16:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:16:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.12s (batch: 3.67s, save: 7.45s)	[pipeline.py: 300]
+05/10 15:16:15 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.62s:
+  episode_total: mean=174.60s, total=174.60s, count=1, min=174598.6ms, max=174598.6ms
+  sensor_polling: mean=441.7ms, total=126.32s, count=286, min=375.6ms, max=837.0ms
+  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7449.4ms, max=7449.4ms
+  physics_step: mean=19.9ms, total=5.68s, count=286, min=13.2ms, max=59.4ms
+  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3671.7ms, max=3671.7ms
+  task_sampling: mean=623.3ms, total=623.3ms, count=1, min=623.3ms, max=623.3ms
+  task_specific_sample: mean=618.8ms, total=618.8ms, count=1, min=618.8ms, max=618.8ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=550.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:16:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:16:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:16:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:16:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:16:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:16:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:16:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050739m	[env.py: 870]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:16:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06476794  1.09574171  0.05073862] yaw=-146.3deg	[env.py: 1019]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82688415  0.39980859  0.05073862] yaw=184.2deg	[env.py: 1019]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08058758  1.12339745  0.05073862] yaw=-126.6deg	[env.py: 1019]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:16:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.2ms	[env.py: 1075]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.096, 0.051)	[env.py: 1079]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
+05/10 15:16:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:16:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:16:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:16:17 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:16:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:16:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:16:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:16:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:16:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:16:19 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.474[m] 83.276[deg]	[grasp_sample.py: 539]
+05/10 15:16:20 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:16:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:16:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:16:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:16:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:16:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:16:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:16:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008644m	[env.py: 870]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:16:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13326756  1.14191362  0.0086438 ] yaw=-131.9deg	[env.py: 1019]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94126145  0.99284866  0.0086438 ] yaw=-144.8deg	[env.py: 1019]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73476093  0.1094199   0.0086438 ] yaw=162.9deg	[env.py: 1019]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.9ms, total=266.9ms	[env.py: 1075]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.133, 1.142, 0.009)	[env.py: 1079]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
+05/10 15:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:16:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:16:23 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:16:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:16:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:16:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:16:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 92.991[deg]	[grasp_sample.py: 539]
+05/10 15:16:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:16:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:16:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:16:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:16:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:16:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:17:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:17:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:17:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:17:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:17:10 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.328s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:17:10 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.702[deg]	[grasp_sample.py: 539]
+05/10 15:17:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:17:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:17:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:17:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:17:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:17:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:17:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:17:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:38 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:17:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:17:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.382s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:17:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.699[deg]	[grasp_sample.py: 539]
+05/10 15:17:42 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:17:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:17:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:17:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:17:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:17:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:17:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:17:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091500m	[env.py: 870]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:17:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14870393  1.0364571   0.09150003] yaw=-126.7deg	[env.py: 1019]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62720695  0.28220341  0.09150003] yaw=170.4deg	[env.py: 1019]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93848095  0.30150289  0.09150003] yaw=164.0deg	[env.py: 1019]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:17:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.6ms, total=73.6ms	[env.py: 1075]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.149, 1.036, 0.092)	[env.py: 1079]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.7 deg	[env.py: 1082]
+05/10 15:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
+05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:17:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:17:44 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:17:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:17:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:17:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:17:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:17:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:17:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 90.437[deg]	[grasp_sample.py: 539]
+05/10 15:17:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:17:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:17:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:17:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:17:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:17:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:17:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:17:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.326s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:17:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.918[deg]	[grasp_sample.py: 539]
+05/10 15:17:46 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:17:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:17:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:17:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:17:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:17:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:17:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:17:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096079m	[env.py: 870]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:17:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92973054  0.94969255  0.09607925] yaw=-152.1deg	[env.py: 1019]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94628923  1.17196324  0.09607925] yaw=-147.8deg	[env.py: 1019]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67142639  0.79084276  0.09607925] yaw=-152.8deg	[env.py: 1019]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:17:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.2ms, total=87.2ms	[env.py: 1075]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.950, 0.096)	[env.py: 1079]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
+05/10 15:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:17:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:17:48 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:17:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:17:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:17:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:17:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:17:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:17:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.938[deg]	[grasp_sample.py: 539]
+05/10 15:17:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:17:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:17:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:18:00 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:18:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:18:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:18:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:18:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:18:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.25s (batch: 4.13s, save: 8.12s)	[pipeline.py: 300]
+05/10 15:18:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.44s:
+  episode_total: mean=193.87s, total=193.87s, count=1, min=193871.7ms, max=193871.7ms
+  sensor_polling: mean=456.1ms, total=136.84s, count=300, min=395.0ms, max=920.8ms
+  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.6ms, max=8118.6ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=12.8ms, max=59.7ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.9ms, max=4130.9ms
+  task_sampling: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
+  task_specific_sample: mean=430.8ms, total=430.8ms, count=1, min=430.8ms, max=430.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=521.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:18:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:18:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:18:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:18:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:18:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:18:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:18:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:18:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009979m	[env.py: 870]
+05/10 15:18:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:18:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79228681  0.21618343  0.00997862] yaw=154.4deg	[env.py: 1019]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03597425  1.25858475  0.00997862] yaw=-120.3deg	[env.py: 1019]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95127869  0.23257404  0.00997862] yaw=151.1deg	[env.py: 1019]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:18:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.1ms, total=194.2ms	[env.py: 1075]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.216, 0.010)	[env.py: 1079]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg	[env.py: 1082]
+05/10 15:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/10 15:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:18:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:18:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:18:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:18:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:18:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:18:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:18:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:18:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.547[m] 97.926[deg]	[grasp_sample.py: 539]
+05/10 15:18:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:18:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:18:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:18:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:18:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:18:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:18:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:18:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:18:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:18:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:18:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:18:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:18:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:18:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:18:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:18:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:18:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:18:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 2.246s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:18:36 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.102[m] 0.723[deg]	[grasp_sample.py: 539]
+05/10 15:18:37 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:18:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:18:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:18:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:18:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:18:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:18:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:18:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052371m	[env.py: 870]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:18:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96662751  0.87196964  0.05237131] yaw=-153.5deg	[env.py: 1019]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69501703  0.61102335  0.05237131] yaw=-163.2deg	[env.py: 1019]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8347338   0.34234054  0.05237131] yaw=162.7deg	[env.py: 1019]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:18:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.5ms	[env.py: 1075]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.872, 0.052)	[env.py: 1079]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg	[env.py: 1082]
+05/10 15:18:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:18:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:18:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:18:39 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:18:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:18:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:18:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:18:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:18:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:18:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.416[m] 93.587[deg]	[grasp_sample.py: 539]
+05/10 15:18:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:18:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:18:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:18:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:18:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:19:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:19:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:19:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:19:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:19:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:19:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:19:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:20:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:20:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:20:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:20:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.538s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:20:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.273[deg]	[grasp_sample.py: 539]
+05/10 15:20:08 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:20:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:20:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:20:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:20:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:20:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:20:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:20:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055394m	[env.py: 870]
+05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:20:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88465202  0.8716821   0.0553943 ] yaw=-164.2deg	[env.py: 1019]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79937941  0.09115683  0.0553943 ] yaw=145.5deg	[env.py: 1019]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:20:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=816.2ms, total=816.2ms	[env.py: 1075]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.872, 0.055)	[env.py: 1079]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg	[env.py: 1082]
+05/10 15:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/10 15:20:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:20:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:20:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:20:11 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:20:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:20:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:20:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:20:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:20:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.067s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:20:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 78.615[deg]	[grasp_sample.py: 539]
+05/10 15:20:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:20:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:20:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:20:15 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:20:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:20:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:20:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:20:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:20:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:20:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:20:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:20:41 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:20:41 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.577[deg]	[grasp_sample.py: 539]
+05/10 15:20:41 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:20:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:20:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:20:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:20:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:20:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:20:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:20:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000768m	[env.py: 870]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:20:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-8.42590720e-01  5.47987871e-01  7.67912350e-04] yaw=-165.1deg	[env.py: 1019]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.60610463e-01  3.90614416e-02  7.67912350e-04] yaw=161.4deg	[env.py: 1019]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.83335701e-01  7.20817110e-01  7.67912350e-04] yaw=-155.7deg	[env.py: 1019]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:20:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.2ms, total=102.2ms	[env.py: 1075]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.548, 0.001)	[env.py: 1079]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg	[env.py: 1082]
+05/10 15:20:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:20:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:20:43 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:20:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:20:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:20:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:20:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:20:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.400s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:20:44 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 89.275[deg]	[grasp_sample.py: 539]
+05/10 15:20:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:20:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:20:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:20:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:20:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:20:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.66s (batch: 3.92s, save: 7.74s)	[pipeline.py: 300]
+05/10 15:20:48 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.72s:
+  episode_total: mean=151.16s, total=302.32s, count=2, min=122365.1ms, max=179954.6ms
+  sensor_polling: mean=455.3ms, total=240.42s, count=528, min=386.5ms, max=814.6ms
+  physics_step: mean=21.4ms, total=11.28s, count=528, min=14.5ms, max=73.4ms
+  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7735.6ms, max=7735.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.3ms, max=3921.3ms
+  task_sampling: mean=358.0ms, total=716.0ms, count=2, min=321.1ms, max=394.9ms
+  task_specific_sample: mean=354.9ms, total=709.8ms, count=2, min=318.0ms, max=391.8ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.0ms
+  mj_forward_sync: mean=372.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:20:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:20:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:20:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:20:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:20:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:20:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:20:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021715m	[env.py: 870]
+05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:20:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73097765  0.80053144  0.02171546] yaw=-170.1deg	[env.py: 1019]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73139211  0.19784628  0.02171546] yaw=153.7deg	[env.py: 1019]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77906784  0.91390098  0.02171546] yaw=-159.1deg	[env.py: 1019]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:20:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:20:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.3ms, total=184.3ms	[env.py: 1075]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.801, 0.022)	[env.py: 1079]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.1 deg	[env.py: 1082]
+05/10 15:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/10 15:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:20:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:20:50 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:20:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:20:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:20:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:20:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:20:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.398s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:20:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 91.363[deg]	[grasp_sample.py: 539]
+05/10 15:20:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:20:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:20:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:20:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:21:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:21:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:21:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:21:26 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:21:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:21:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:21:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:21:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:21:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:21:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:21:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.83s (batch: 4.05s, save: 8.79s)	[pipeline.py: 300]
+05/10 15:21:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.53s:
+  episode_total: mean=106.35s, total=319.06s, count=3, min=3343.2ms, max=180722.9ms
+  sensor_polling: mean=442.5ms, total=242.47s, count=548, min=385.7ms, max=748.5ms
+  physics_step: mean=19.7ms, total=10.82s, count=548, min=16.2ms, max=54.0ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8786.6ms, max=8786.6ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.4ms, max=4045.4ms
+  task_sampling: mean=511.3ms, total=1.53s, count=3, min=445.9ms, max=633.0ms
+  task_specific_sample: mean=508.1ms, total=1.52s, count=3, min=442.3ms, max=629.9ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=423.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=28.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:21:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:21:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:21:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:21:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:21:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:21:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:21:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:21:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:21:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:21:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071254m	[env.py: 870]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:21:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83921142  0.63069891  0.07125417] yaw=-168.0deg	[env.py: 1019]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:21:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81235381  0.95340447  0.07125417] yaw=-150.6deg	[env.py: 1019]
+05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=420.7ms, total=420.7ms	[env.py: 1075]
+05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.631, 0.071)	[env.py: 1079]
+05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.0 deg	[env.py: 1082]
+05/10 15:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/10 15:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:21:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:21:42 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:21:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:21:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:21:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:21:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.938s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:21:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 82.867[deg]	[grasp_sample.py: 539]
+05/10 15:21:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:21:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:21:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:21:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:22:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:22:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:22:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:22:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:22:36 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:22:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:23:02 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:23:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:23:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:23:10 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:23:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:23:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:23:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.88s (batch: 4.11s, save: 7.77s)	[pipeline.py: 300]
+05/10 15:23:14 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=2.41s:
+  episode_total: mean=163.92s, total=655.69s, count=4, min=144708.8ms, max=184089.6ms
+  sensor_polling: mean=449.1ms, total=515.53s, count=1148, min=378.9ms, max=901.5ms
+  physics_step: mean=21.0ms, total=24.07s, count=1148, min=12.7ms, max=95.8ms
+  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7767.9ms, max=7767.9ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.0ms, max=4109.0ms
+  task_sampling: mean=601.9ms, total=2.41s, count=4, min=309.4ms, max=1067.7ms
+  task_specific_sample: mean=598.5ms, total=2.39s, count=4, min=306.0ms, max=1064.4ms
+  scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=432.3us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:23:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:23:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:23:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:23:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:23:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:23:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:23:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028266m	[env.py: 870]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:23:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9659717   0.16106573  0.0282664 ] yaw=153.8deg	[env.py: 1019]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8724435   0.26175529  0.0282664 ] yaw=164.8deg	[env.py: 1019]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:23:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.3ms, total=144.3ms	[env.py: 1075]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.161, 0.028)	[env.py: 1079]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg	[env.py: 1082]
+05/10 15:23:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:23:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:23:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:23:16 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:23:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:23:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:23:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:23:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:23:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:23:17 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.410[m] 98.628[deg]	[grasp_sample.py: 539]
+05/10 15:23:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:23:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:23:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:23:20 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:23:34 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:23:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:23:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:23:42 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:23:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:23:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:23:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:23:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:23:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.25s (batch: 3.88s, save: 7.37s)	[pipeline.py: 300]
+05/10 15:23:45 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.76s:
+  episode_total: mean=164.69s, total=329.38s, count=2, min=146969.5ms, max=182406.4ms
+  sensor_polling: mean=459.5ms, total=263.77s, count=574, min=393.1ms, max=1043.3ms
+  physics_step: mean=21.8ms, total=12.52s, count=574, min=13.6ms, max=84.2ms
+  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7369.2ms, max=7369.2ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.7ms, max=3880.7ms
+  task_sampling: mean=381.8ms, total=763.5ms, count=2, min=325.9ms, max=437.6ms
+  task_specific_sample: mean=378.7ms, total=757.4ms, count=2, min=323.3ms, max=434.1ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=390.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:23:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:23:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:23:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:23:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:23:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:23:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:23:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098986m	[env.py: 870]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:23:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6622719   0.54948757  0.09898566] yaw=-174.9deg	[env.py: 1019]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.1245444   0.99484609  0.09898566] yaw=-128.0deg	[env.py: 1019]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:23:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.6ms	[env.py: 1075]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.549, 0.099)	[env.py: 1079]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg	[env.py: 1082]
+05/10 15:23:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:23:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:23:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:23:47 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:23:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:23:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:23:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:23:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:23:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:23:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.577[m] 86.633[deg]	[grasp_sample.py: 539]
+05/10 15:23:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:23:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:23:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:23:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:23:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:23:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.46s (batch: 3.85s, save: 7.61s)	[pipeline.py: 300]
+05/10 15:23:54 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.47s:
+  episode_total: mean=184.66s, total=184.66s, count=1, min=184663.8ms, max=184663.8ms
+  sensor_polling: mean=462.0ms, total=138.59s, count=300, min=390.4ms, max=1066.2ms
+  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7607.1ms, max=7607.1ms
+  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.4ms, max=44.8ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3852.7ms, max=3852.7ms
+  task_sampling: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
+  task_specific_sample: mean=467.9ms, total=467.9ms, count=1, min=467.9ms, max=467.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=391.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:23:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:23:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:23:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:23:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:23:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:23:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:23:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:23:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001895m	[env.py: 870]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:23:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89403635  0.5861861   0.00189524] yaw=-180.0deg	[env.py: 1019]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78270487  0.64632227  0.00189524] yaw=-177.3deg	[env.py: 1019]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1595861   1.15852204  0.00189524] yaw=-118.7deg	[env.py: 1019]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:23:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms	[env.py: 1075]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.586, 0.002)	[env.py: 1079]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg	[env.py: 1082]
+05/10 15:23:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:23:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:23:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:23:56 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:23:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:23:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:23:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:23:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:23:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:23:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 79.992[deg]	[grasp_sample.py: 539]
+05/10 15:23:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:23:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:23:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:24:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:24:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:24:10 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:24:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:24:32 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:24:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:24:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:24:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:24:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:24:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:24:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:24:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.68s (batch: 4.00s, save: 7.68s)	[pipeline.py: 300]
+05/10 15:24:44 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.68s:
+  episode_total: mean=182.66s, total=182.66s, count=1, min=182661.1ms, max=182661.1ms
+  sensor_polling: mean=455.8ms, total=136.74s, count=300, min=387.1ms, max=950.9ms
+  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7679.6ms, max=7679.6ms
+  physics_step: mean=20.2ms, total=6.05s, count=300, min=16.3ms, max=37.6ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.7ms, max=3997.7ms
+  task_sampling: mean=680.5ms, total=680.5ms, count=1, min=680.5ms, max=680.5ms
+  task_specific_sample: mean=675.9ms, total=675.9ms, count=1, min=675.9ms, max=675.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=525.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:24:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:24:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:24:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:24:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:24:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:24:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:24:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:24:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:24:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:24:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073596m	[env.py: 870]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:24:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08831835  1.03317619  0.07359559] yaw=-145.6deg	[env.py: 1019]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01472324  1.26988384  0.07359559] yaw=-132.7deg	[env.py: 1019]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:24:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06882473  1.05541412  0.07359559] yaw=-132.8deg	[env.py: 1019]
+05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:24:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.9ms, total=71.9ms	[env.py: 1075]
+05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.088, 1.033, 0.074)	[env.py: 1079]
+05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg	[env.py: 1082]
+05/10 15:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/10 15:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:24:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:24:46 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:24:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:24:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:24:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:24:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:24:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:24:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 89.625[deg]	[grasp_sample.py: 539]
+05/10 15:24:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:24:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:24:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:24:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:24:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:24:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:25:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:25:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:25:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:25:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:25:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:25:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:25:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:25:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:25:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:25:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:25:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:25:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:25:11 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:25:11 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.133[deg]	[grasp_sample.py: 539]
+05/10 15:25:12 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:25:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:25:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:25:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:25:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:25:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:25:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:25:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032934m	[env.py: 870]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:25:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70619424  0.88896327  0.03293427] yaw=-159.9deg	[env.py: 1019]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77189898  0.72969017  0.03293427] yaw=-174.9deg	[env.py: 1019]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75162876  0.31279469  0.03293427] yaw=165.3deg	[env.py: 1019]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:25:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.5ms, total=388.5ms	[env.py: 1075]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.889, 0.033)	[env.py: 1079]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg	[env.py: 1082]
+05/10 15:25:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:25:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:25:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:25:14 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:25:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:25:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:25:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:25:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:25:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.543s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:25:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.674[m] 91.745[deg]	[grasp_sample.py: 539]
+05/10 15:25:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:25:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:25:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:25:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:25:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:25:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:26:16 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:26:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:26:23 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:26:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:26:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:26:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:26:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:26:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:26:45 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:26:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:26:45 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/10 15:26:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:26:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:26:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.73s (batch: 4.23s, save: 8.50s)	[pipeline.py: 300]
+05/10 15:26:49 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
+  episode_total: mean=181.72s, total=181.72s, count=1, min=181716.5ms, max=181716.5ms
+  sensor_polling: mean=460.6ms, total=138.19s, count=300, min=398.1ms, max=750.0ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8499.9ms, max=8499.9ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=13.7ms, max=80.7ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.0ms, max=4226.0ms
+  task_sampling: mean=403.2ms, total=403.2ms, count=1, min=403.2ms, max=403.2ms
+  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=376.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:26:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:26:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:26:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:26:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:26:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:26:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:26:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030032m	[env.py: 870]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:26:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75309637  0.56371119  0.03003248] yaw=-168.7deg	[env.py: 1019]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60535339  0.40077535  0.03003248] yaw=181.7deg	[env.py: 1019]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:26:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms	[env.py: 1075]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.564, 0.030)	[env.py: 1079]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
+05/10 15:26:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:26:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:26:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:26:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:26:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:26:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:26:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:26:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:26:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:26:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.549[m] 100.082[deg]	[grasp_sample.py: 539]
+05/10 15:26:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:26:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:26:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:26:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:26:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:26:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.99s (batch: 3.77s, save: 8.22s)	[pipeline.py: 300]
+05/10 15:26:58 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
+  episode_total: mean=181.97s, total=181.97s, count=1, min=181972.9ms, max=181972.9ms
+  sensor_polling: mean=466.1ms, total=134.24s, count=288, min=396.5ms, max=812.7ms
+  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8217.9ms, max=8217.9ms
+  physics_step: mean=21.9ms, total=6.30s, count=288, min=13.9ms, max=59.0ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3773.0ms, max=3773.0ms
+  task_sampling: mean=405.0ms, total=405.0ms, count=1, min=405.0ms, max=405.0ms
+  task_specific_sample: mean=401.5ms, total=401.5ms, count=1, min=401.5ms, max=401.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=391.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:26:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:26:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:26:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:26:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006727m	[env.py: 870]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06599904  0.95476062  0.00672662] yaw=-143.5deg	[env.py: 1019]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.22528721  1.0654542   0.00672662] yaw=-131.2deg	[env.py: 1019]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98588686  0.90346909  0.00672662] yaw=-155.2deg	[env.py: 1019]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.7ms, total=94.7ms	[env.py: 1075]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.955, 0.007)	[env.py: 1079]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg	[env.py: 1082]
+05/10 15:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
+05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:27:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:27:00 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:27:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:27:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:27:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:27:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:27:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:27:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:27:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.368[m] 89.643[deg]	[grasp_sample.py: 539]
+05/10 15:27:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:27:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:27:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:27:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:27:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:27:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:27:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:27:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:27:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:27:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:27:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:27:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:27:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:27:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:27:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:27:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.370s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:27:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.328[deg]	[grasp_sample.py: 539]
+05/10 15:27:12 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:27:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:27:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:27:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:27:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:27:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:27:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:27:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087005m	[env.py: 870]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:27:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69422756  0.62982091  0.08700527] yaw=-167.6deg	[env.py: 1019]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65857643  0.28595789  0.08700527] yaw=180.4deg	[env.py: 1019]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85502324  0.3042946   0.08700527] yaw=164.2deg	[env.py: 1019]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:27:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms	[env.py: 1075]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.694, 0.630, 0.087)	[env.py: 1079]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg	[env.py: 1082]
+05/10 15:27:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:27:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:27:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:27:14 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:27:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:27:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:27:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:27:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:27:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:27:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 90.307[deg]	[grasp_sample.py: 539]
+05/10 15:27:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:27:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:27:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:27:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:27:38 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:27:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:27:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:27:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:27:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:27:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:28:01 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:28:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:28:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:28:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:28:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:28:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:28:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.33s (batch: 4.28s, save: 10.05s)	[pipeline.py: 300]
+05/10 15:28:16 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.99s:
+  episode_total: mean=149.14s, total=298.27s, count=2, min=116179.6ms, max=182091.9ms
+  sensor_polling: mean=444.1ms, total=223.40s, count=503, min=370.2ms, max=771.9ms
+  physics_step: mean=20.1ms, total=10.11s, count=503, min=14.4ms, max=112.3ms
+  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10047.5ms, max=10047.5ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.9ms, max=4278.9ms
+  task_sampling: mean=496.1ms, total=992.1ms, count=2, min=394.6ms, max=597.5ms
+  task_specific_sample: mean=492.9ms, total=985.8ms, count=2, min=391.2ms, max=594.7ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=401.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:28:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:28:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:28:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:28:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:28:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:28:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:28:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:28:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:28:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:28:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094349m	[env.py: 870]
+05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:28:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:28:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16839351  1.0296962   0.09434923] yaw=-141.6deg	[env.py: 1019]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73555742  0.62744977  0.09434923] yaw=-179.8deg	[env.py: 1019]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88863144  0.62848737  0.09434923] yaw=-173.4deg	[env.py: 1019]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:28:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=464.5ms, total=464.5ms	[env.py: 1075]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.168, 1.030, 0.094)	[env.py: 1079]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg	[env.py: 1082]
+05/10 15:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.765m	[env.py: 1086]
+05/10 15:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:28:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:28:18 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:28:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:28:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:28:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:28:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:28:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:28:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.351[m] 78.152[deg]	[grasp_sample.py: 539]
+05/10 15:28:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:28:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:28:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:28:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:28:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:28:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:29:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:29:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:29:15 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:29:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:29:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:29:31 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:29:39 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:29:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:29:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:29:40 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:29:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:29:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:29:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.30s (batch: 3.76s, save: 7.53s)	[pipeline.py: 300]
+05/10 15:29:51 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s:
+  episode_total: mean=180.57s, total=180.57s, count=1, min=180572.0ms, max=180572.0ms
+  sensor_polling: mean=447.2ms, total=134.15s, count=300, min=398.8ms, max=942.0ms
+  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7530.3ms, max=7530.3ms
+  physics_step: mean=20.1ms, total=6.02s, count=300, min=13.9ms, max=46.5ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3764.8ms, max=3764.8ms
+  task_sampling: mean=470.9ms, total=470.9ms, count=1, min=470.9ms, max=470.9ms
+  task_specific_sample: mean=467.6ms, total=467.6ms, count=1, min=467.6ms, max=467.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=378.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:29:51 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:29:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:29:51 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/10 15:29:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:29:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:29:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:29:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:29:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:29:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:29:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:29:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:29:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:29:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040827m	[env.py: 870]
+05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:29:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:29:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73009051  0.51927774  0.04082663] yaw=-179.7deg	[env.py: 1019]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95023459  0.09503562  0.04082663] yaw=155.9deg	[env.py: 1019]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:29:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.1ms, total=263.1ms	[env.py: 1075]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.519, 0.041)	[env.py: 1079]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.7 deg	[env.py: 1082]
+05/10 15:29:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/10 15:29:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:29:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:29:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:29:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:29:53 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:29:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:29:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:29:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:29:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:29:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.101s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:29:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.503[m] 84.840[deg]	[grasp_sample.py: 539]
+05/10 15:29:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:29:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:29:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:30:04 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:30:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:30:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:30:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:30:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:30:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.33s (batch: 5.14s, save: 8.19s)	[pipeline.py: 300]
+05/10 15:30:05 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
+  episode_total: mean=186.19s, total=186.19s, count=1, min=186193.5ms, max=186193.5ms
+  sensor_polling: mean=450.6ms, total=132.47s, count=294, min=394.0ms, max=826.1ms
+  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8191.0ms, max=8191.0ms
+  physics_step: mean=21.2ms, total=6.23s, count=294, min=14.2ms, max=53.3ms
+  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5141.5ms, max=5141.5ms
+  task_sampling: mean=356.3ms, total=356.3ms, count=1, min=356.3ms, max=356.3ms
+  task_specific_sample: mean=352.6ms, total=352.6ms, count=1, min=352.6ms, max=352.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=385.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:30:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:30:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:30:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:30:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:30:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:30:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:30:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045285m	[env.py: 870]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:30:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02160074  1.06498708  0.04528494] yaw=-132.0deg	[env.py: 1019]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08022114  1.13762463  0.04528494] yaw=-139.4deg	[env.py: 1019]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:30:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms	[env.py: 1075]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.065, 0.045)	[env.py: 1079]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.0 deg	[env.py: 1082]
+05/10 15:30:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:30:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:30:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:30:07 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:30:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:30:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:30:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:30:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:30:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:30:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.502[m] 96.817[deg]	[grasp_sample.py: 539]
+05/10 15:30:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:30:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:30:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:30:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:30:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:30:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.13s (batch: 4.07s, save: 7.05s)	[pipeline.py: 300]
+05/10 15:30:16 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.72s:
+  episode_total: mean=164.38s, total=328.77s, count=2, min=146613.8ms, max=182153.7ms
+  sensor_polling: mean=458.3ms, total=262.61s, count=573, min=376.8ms, max=940.3ms
+  physics_step: mean=20.8ms, total=11.92s, count=573, min=13.1ms, max=81.6ms
+  save_trajectories: mean=7.05s, total=7.05s, count=1, min=7053.4ms, max=7053.4ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.5ms, max=4073.5ms
+  task_sampling: mean=362.5ms, total=725.0ms, count=2, min=358.9ms, max=366.1ms
+  task_specific_sample: mean=359.3ms, total=718.6ms, count=2, min=356.1ms, max=362.5ms
+  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=377.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:30:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:30:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:30:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:30:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:30:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:30:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:30:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030632m	[env.py: 870]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:30:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76894735  0.04336054  0.03063199] yaw=163.8deg	[env.py: 1019]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98721149  1.09231124  0.03063199] yaw=-147.1deg	[env.py: 1019]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72960445  0.71444591  0.03063199] yaw=-167.0deg	[env.py: 1019]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:30:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.0ms, total=111.1ms	[env.py: 1075]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.043, 0.031)	[env.py: 1079]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg	[env.py: 1082]
+05/10 15:30:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:30:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:30:18 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:30:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:30:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:30:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:30:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:30:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.403s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:30:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.647[m] 98.487[deg]	[grasp_sample.py: 539]
+05/10 15:30:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:30:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:30:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:30:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:30:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:30:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:30:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:30:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:30:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:30:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:30:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:30:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:30:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:30:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:30:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:30:33 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:30:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]	[grasp_sample.py: 539]
+05/10 15:30:34 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:30:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:30:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:30:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:30:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:30:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:30:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:30:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058338m	[env.py: 870]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:30:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03761307  1.03416094  0.05833845] yaw=-143.4deg	[env.py: 1019]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84980173  1.07652642  0.05833845] yaw=-134.8deg	[env.py: 1019]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.789332    0.55429877  0.05833845] yaw=-176.8deg	[env.py: 1019]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:30:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms	[env.py: 1075]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.034, 0.058)	[env.py: 1079]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg	[env.py: 1082]
+05/10 15:30:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:30:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:30:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:30:36 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:30:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:30:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:30:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:30:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:30:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:30:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.408[m] 82.942[deg]	[grasp_sample.py: 539]
+05/10 15:30:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:30:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:30:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:30:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:30:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:30:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:30:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:31:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:31:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:31:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:31:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:31:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:31:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:31:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:31:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:32:20 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:32:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:32:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:32:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.453s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:32:42 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.361[deg]	[grasp_sample.py: 539]
+05/10 15:32:43 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:32:44 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:32:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:32:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:32:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:32:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:32:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:32:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:32:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:32:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:32:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097569m	[env.py: 870]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:32:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69510615  0.87427323  0.09756912] yaw=-156.9deg	[env.py: 1019]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82128021  0.69554009  0.09756912] yaw=-177.3deg	[env.py: 1019]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9640902   1.04493337  0.09756912] yaw=-141.5deg	[env.py: 1019]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:32:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms	[env.py: 1075]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.874, 0.098)	[env.py: 1079]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg	[env.py: 1082]
+05/10 15:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:32:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:32:45 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:32:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:32:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:32:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:32:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:32:46 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:32:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:32:48 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.679[m] 92.995[deg]	[grasp_sample.py: 539]
+05/10 15:32:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:32:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:32:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:32:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:32:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.56s (batch: 4.07s, save: 8.49s)	[pipeline.py: 300]
+05/10 15:32:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:58 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
+  episode_total: mean=185.19s, total=185.19s, count=1, min=185188.1ms, max=185188.1ms
+  sensor_polling: mean=450.1ms, total=135.04s, count=300, min=386.6ms, max=874.8ms
+  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8486.0ms, max=8486.0ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=16.6ms, max=49.7ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4074.7ms, max=4074.7ms
+  task_sampling: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
+  task_specific_sample: mean=533.2ms, total=533.2ms, count=1, min=533.2ms, max=533.2ms
+  scene_randomize: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  mj_forward_sync: mean=540.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:32:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:32:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:32:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:32:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:32:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:32:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:32:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:32:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:32:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:32:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029731m	[env.py: 870]
+05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:32:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99189094  0.98107377  0.02973056] yaw=-139.4deg	[env.py: 1019]
+05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83088361  0.81899544  0.02973056] yaw=-161.4deg	[env.py: 1019]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81495241  0.73327885  0.02973056] yaw=-160.9deg	[env.py: 1019]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:33:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.2ms, total=173.2ms	[env.py: 1075]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.981, 0.030)	[env.py: 1079]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.4 deg	[env.py: 1082]
+05/10 15:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/10 15:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:33:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:33:00 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:33:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:33:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:33:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:33:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:33:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.799s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:33:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 83.432[deg]	[grasp_sample.py: 539]
+05/10 15:33:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:33:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:33:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:33:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:33:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:33:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:33:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:33:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:33:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.381s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:33:04 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.338[deg]	[grasp_sample.py: 539]
+05/10 15:33:05 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:33:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:33:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:33:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:33:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:33:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:33:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:33:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046448m	[env.py: 870]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:33:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81807479  1.01093162  0.04644801] yaw=-150.7deg	[env.py: 1019]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82674188  0.36126547  0.04644801] yaw=177.7deg	[env.py: 1019]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01376668  1.06871172  0.04644801] yaw=-129.1deg	[env.py: 1019]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:33:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms	[env.py: 1075]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 1.011, 0.046)	[env.py: 1079]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg	[env.py: 1082]
+05/10 15:33:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:33:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:33:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:33:07 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:33:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:33:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:33:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:33:08 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:33:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:33:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:33:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.390s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:33:09 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.602[m] 87.041[deg]	[grasp_sample.py: 539]
+05/10 15:33:10 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:33:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:33:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:33:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:33:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:33:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045827m	[env.py: 870]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71795641  0.82880664  0.04582697] yaw=-158.5deg	[env.py: 1019]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:33:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms	[env.py: 1075]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.829, 0.046)	[env.py: 1079]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
+05/10 15:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:33:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:33:13 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:33:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:33:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:33:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:33:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.195s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:33:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.588[m] 87.204[deg]	[grasp_sample.py: 539]
+05/10 15:33:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:33:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:33:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:33:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:33:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:33:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.12s (batch: 3.64s, save: 7.48s)	[pipeline.py: 300]
+05/10 15:33:20 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.36s:
+  episode_total: mean=182.30s, total=182.30s, count=1, min=182296.7ms, max=182296.7ms
+  sensor_polling: mean=458.0ms, total=137.41s, count=300, min=382.1ms, max=885.6ms
+  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7476.4ms, max=7476.4ms
+  physics_step: mean=21.4ms, total=6.41s, count=300, min=13.1ms, max=65.4ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3642.8ms, max=3642.8ms
+  task_sampling: mean=361.1ms, total=361.1ms, count=1, min=361.1ms, max=361.1ms
+  task_specific_sample: mean=357.9ms, total=357.9ms, count=1, min=357.9ms, max=357.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=385.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:33:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:33:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:33:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:33:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:33:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:33:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:33:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056292m	[env.py: 870]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:33:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73904673  0.91318457  0.05629218] yaw=-160.4deg	[env.py: 1019]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03678903  0.83399649  0.05629218] yaw=-144.6deg	[env.py: 1019]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8151208   1.0056714   0.05629218] yaw=-139.9deg	[env.py: 1019]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:33:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms	[env.py: 1075]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.913, 0.056)	[env.py: 1079]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg	[env.py: 1082]
+05/10 15:33:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:33:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:33:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:33:22 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:33:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:33:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:33:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:33:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:33:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.451s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:33:24 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.653[m] 83.862[deg]	[grasp_sample.py: 539]
+05/10 15:33:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:33:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:33:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:33:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:33:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:33:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:33:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:33:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:34:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:34:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:34:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:34:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:34:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:34:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:34:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:35:11 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:35:25 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:35:36 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:35:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:35:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:35:40 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:35:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:35:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:35:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.53s (batch: 4.60s, save: 7.94s)	[pipeline.py: 300]
+05/10 15:35:49 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:35:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:35:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:35:49 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
+  episode_total: mean=170.35s, total=340.71s, count=2, min=156382.6ms, max=184322.6ms
+  sensor_polling: mean=445.8ms, total=266.13s, count=597, min=351.9ms, max=884.4ms
+  physics_step: mean=20.7ms, total=12.36s, count=597, min=13.5ms, max=59.8ms
+  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7939.3ms, max=7939.3ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4595.5ms, max=4595.5ms
+  task_sampling: mean=410.2ms, total=820.4ms, count=2, min=408.3ms, max=412.1ms
+  task_specific_sample: mean=406.9ms, total=813.8ms, count=2, min=405.3ms, max=408.5ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=433.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:35:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:35:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:35:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:35:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:35:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:35:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:35:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040870m	[env.py: 870]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:35:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93673663  0.68125278  0.04087015] yaw=-158.9deg	[env.py: 1019]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:35:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.3ms, total=159.4ms	[env.py: 1075]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.681, 0.041)	[env.py: 1079]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
+05/10 15:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:35:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:35:51 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:35:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:35:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:35:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:35:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:35:52 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:35:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.547s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:35:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.325[m] 81.194[deg]	[grasp_sample.py: 539]
+05/10 15:35:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:35:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:35:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:35:59 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:35:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:35:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:36:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:36:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:36:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.29s (batch: 3.85s, save: 8.44s)	[pipeline.py: 300]
+05/10 15:36:02 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
+  episode_total: mean=182.21s, total=182.21s, count=1, min=182210.7ms, max=182210.7ms
+  sensor_polling: mean=448.7ms, total=134.62s, count=300, min=382.0ms, max=714.9ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8445.0ms, max=8445.0ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.3ms, max=70.2ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3846.5ms, max=3846.5ms
+  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
+  task_specific_sample: mean=452.6ms, total=452.6ms, count=1, min=452.6ms, max=452.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=442.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:36:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:36:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:36:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:36:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:36:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:36:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005044m	[env.py: 870]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:36:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0160821   0.17638014  0.00504385] yaw=164.1deg	[env.py: 1019]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92368884  0.23725385  0.00504385] yaw=172.3deg	[env.py: 1019]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97173999  1.05392324  0.00504385] yaw=-145.1deg	[env.py: 1019]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:36:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms	[env.py: 1075]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.176, 0.005)	[env.py: 1079]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.1 deg	[env.py: 1082]
+05/10 15:36:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.751m	[env.py: 1086]
+05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:36:04 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:36:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:36:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:36:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:36:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:36:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.662s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:36:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.316[m] 90.603[deg]	[grasp_sample.py: 539]
+05/10 15:36:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:36:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:36:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:36:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:36:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:36:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:36:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:36:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:36:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.64s (batch: 3.65s, save: 9.99s)	[pipeline.py: 300]
+05/10 15:36:13 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.98s:
+  episode_total: mean=117.73s, total=470.91s, count=4, min=3799.2ms, max=181033.6ms
+  sensor_polling: mean=451.6ms, total=380.74s, count=843, min=370.9ms, max=939.3ms
+  physics_step: mean=20.9ms, total=17.61s, count=843, min=13.3ms, max=84.1ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9991.1ms, max=9991.1ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3645.6ms, max=3645.6ms
+  task_sampling: mean=494.9ms, total=1.98s, count=4, min=315.3ms, max=747.6ms
+  task_specific_sample: mean=491.3ms, total=1.97s, count=4, min=312.5ms, max=743.1ms
+  scene_randomize: mean=1.8ms, total=7.3ms, count=4, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=409.4us, total=1.6ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:36:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:36:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:36:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019535m	[env.py: 870]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75742575  0.17922135  0.01953546] yaw=152.2deg	[env.py: 1019]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8826288   0.56357826  0.01953546] yaw=-176.3deg	[env.py: 1019]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77261319  0.6558228   0.01953546] yaw=-177.1deg	[env.py: 1019]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.8ms, total=84.8ms	[env.py: 1075]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.179, 0.020)	[env.py: 1079]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.2 deg	[env.py: 1082]
+05/10 15:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:36:15 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:36:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:36:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:36:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:36:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:36:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:36:17 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.617[m] 100.222[deg]	[grasp_sample.py: 539]
+05/10 15:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:36:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:36:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064873m	[env.py: 870]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86866488  1.12694242  0.06487273] yaw=-140.7deg	[env.py: 1019]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86811934  0.2034852   0.06487273] yaw=153.4deg	[env.py: 1019]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01074509  1.23070773  0.06487273] yaw=-138.3deg	[env.py: 1019]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.1ms, total=105.1ms	[env.py: 1075]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.869, 1.127, 0.065)	[env.py: 1079]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg	[env.py: 1082]
+05/10 15:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:36:19 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:36:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:36:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:36:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:36:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:36:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:36:22 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.603[m] 83.737[deg]	[grasp_sample.py: 539]
+05/10 15:36:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:36:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:36:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:36:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:36:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:36:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.36s (batch: 3.64s, save: 7.73s)	[pipeline.py: 300]
+05/10 15:36:24 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s:
+  episode_total: mean=183.25s, total=183.25s, count=1, min=183247.9ms, max=183247.9ms
+  sensor_polling: mean=459.7ms, total=137.90s, count=300, min=372.9ms, max=804.5ms
+  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7727.2ms, max=7727.2ms
+  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.4ms, max=64.3ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3636.0ms, max=3636.0ms
+  task_sampling: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
+  task_specific_sample: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=375.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:36:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013061m	[env.py: 870]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9212015   1.23256921  0.01306125] yaw=-142.2deg	[env.py: 1019]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01179847  1.19291771  0.01306125] yaw=-127.9deg	[env.py: 1019]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93625057  1.22653123  0.01306125] yaw=-141.1deg	[env.py: 1019]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.1ms, total=91.1ms	[env.py: 1075]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.921, 1.233, 0.013)	[env.py: 1079]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg	[env.py: 1082]
+05/10 15:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:36:26 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:36:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:36:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:36:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.449s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 15:36:28 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 15:36:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:36:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:36:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:36:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:36:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:36:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:36:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052134m	[env.py: 870]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:36:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1818259  1.0361999  0.0521337] yaw=-144.5deg	[env.py: 1019]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85201351  1.06645679  0.0521337 ] yaw=-151.8deg	[env.py: 1019]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91966063  1.03372064  0.0521337 ] yaw=-153.6deg	[env.py: 1019]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:36:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.1ms, total=70.1ms	[env.py: 1075]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.036, 0.052)	[env.py: 1079]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg	[env.py: 1082]
+05/10 15:36:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:36:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:36:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:36:30 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:36:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:36:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:36:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:36:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:36:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:36:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.374[m] 94.130[deg]	[grasp_sample.py: 539]
+05/10 15:36:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:36:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:36:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:36:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:36:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:36:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:36:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:37:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:37:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:37:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:37:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:37:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:37:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:37:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:37:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:37:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:37:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:37:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.735s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:37:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.201[deg]	[grasp_sample.py: 539]
+05/10 15:37:30 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:37:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:37:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:37:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:37:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:37:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:37:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:37:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:37:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051988m	[env.py: 870]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:37:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81219451  0.52414522  0.05198831] yaw=-172.3deg	[env.py: 1019]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00585799  1.01729826  0.05198831] yaw=-140.1deg	[env.py: 1019]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90560748  0.36133104  0.05198831] yaw=168.3deg	[env.py: 1019]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:37:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.2ms	[env.py: 1075]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.524, 0.052)	[env.py: 1079]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg	[env.py: 1082]
+05/10 15:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:37:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:37:33 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:37:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:37:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:37:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:37:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:37:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.244s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:37:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 84.801[deg]	[grasp_sample.py: 539]
+05/10 15:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:37:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:37:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:38:12 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:38:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:38:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:32 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:38:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:38:32 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/10 15:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:38:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:38:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:38:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:38:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:38:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.49s (batch: 4.14s, save: 10.36s)	[pipeline.py: 300]
+05/10 15:38:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:38:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.600[deg]	[grasp_sample.py: 539]
+05/10 15:38:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:38:47 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
+  episode_total: mean=175.85s, total=175.85s, count=1, min=175845.2ms, max=175845.2ms
+  sensor_polling: mean=458.1ms, total=130.55s, count=285, min=379.3ms, max=806.0ms
+  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10357.9ms, max=10357.9ms
+  physics_step: mean=21.7ms, total=6.17s, count=285, min=13.8ms, max=107.7ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4135.7ms, max=4135.7ms
+  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
+  task_specific_sample: mean=408.9ms, total=408.9ms, count=1, min=408.9ms, max=408.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=369.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:38:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:38:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:38:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:38:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:38:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:38:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:38:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077584m	[env.py: 870]
+05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81451832  0.20813035  0.07758399] yaw=157.0deg	[env.py: 1019]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80297408  1.06544951  0.07758399] yaw=-145.4deg	[env.py: 1019]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11328017  0.9892049   0.07758399] yaw=-133.1deg	[env.py: 1019]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:38:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=563.2ms, total=563.3ms	[env.py: 1075]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.208, 0.078)	[env.py: 1079]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg	[env.py: 1082]
+05/10 15:38:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/10 15:38:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:38:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:38:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:38:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:38:49 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:38:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:38:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:38:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:38:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:38:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 87.776[deg]	[grasp_sample.py: 539]
+05/10 15:38:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:38:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:38:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:38:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:38:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:38:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:38:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:38:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:38:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.486s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:38:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.296[deg]	[grasp_sample.py: 539]
+05/10 15:38:54 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:38:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:38:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:38:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:38:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:38:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:38:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:38:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083699m	[env.py: 870]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:38:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04145537  0.89174715  0.08369885] yaw=-158.8deg	[env.py: 1019]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77342831  1.02579971  0.08369885] yaw=-156.7deg	[env.py: 1019]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=339.7ms, total=339.7ms	[env.py: 1075]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.892, 0.084)	[env.py: 1079]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.8 deg	[env.py: 1082]
+05/10 15:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:38:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:38:56 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:38:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:38:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:38:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:38:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:38:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:38:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.372[m] 88.136[deg]	[grasp_sample.py: 539]
+05/10 15:38:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:38:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:38:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:38:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:39:02 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:39:23 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:39:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:39:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:39:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:39:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:39:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:39:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.07s (batch: 3.63s, save: 7.44s)	[pipeline.py: 300]
+05/10 15:39:35 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s:
+  episode_total: mean=99.32s, total=198.63s, count=2, min=3024.4ms, max=195608.8ms
+  sensor_polling: mean=454.1ms, total=136.22s, count=300, min=397.3ms, max=726.7ms
+  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7437.5ms, max=7437.5ms
+  physics_step: mean=20.7ms, total=6.20s, count=300, min=13.7ms, max=60.2ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3631.2ms, max=3631.2ms
+  task_sampling: mean=345.2ms, total=690.4ms, count=2, min=320.3ms, max=370.1ms
+  task_specific_sample: mean=342.1ms, total=684.3ms, count=2, min=317.7ms, max=366.6ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=372.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:39:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:39:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:39:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:39:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:39:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:39:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:39:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:39:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099156m	[env.py: 870]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:39:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81729541  0.20841457  0.09915578] yaw=162.1deg	[env.py: 1019]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96895406  0.30623068  0.09915578] yaw=157.4deg	[env.py: 1019]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83685355  0.73325956  0.09915578] yaw=-167.3deg	[env.py: 1019]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:39:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.7ms	[env.py: 1075]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.208, 0.099)	[env.py: 1079]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg	[env.py: 1082]
+05/10 15:39:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:39:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:39:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:39:37 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:39:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:39:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:39:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:39:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:39:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.486[m] 91.171[deg]	[grasp_sample.py: 539]
+05/10 15:39:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:39:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:39:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:39:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:39:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:39:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:39:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:40:03 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:40:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:40:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:40:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:40:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:40:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:40:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:40:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:40:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.61s (batch: 3.39s, save: 8.22s)	[pipeline.py: 300]
+05/10 15:40:37 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.91s:
+  episode_total: mean=135.71s, total=271.43s, count=2, min=87083.9ms, max=184342.2ms
+  sensor_polling: mean=455.2ms, total=205.74s, count=452, min=401.0ms, max=766.3ms
+  physics_step: mean=20.6ms, total=9.33s, count=452, min=16.5ms, max=52.9ms
+  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8219.1ms, max=8219.1ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3388.5ms, max=3388.5ms
+  task_sampling: mean=457.2ms, total=914.4ms, count=2, min=418.3ms, max=496.1ms
+  task_specific_sample: mean=453.7ms, total=907.3ms, count=2, min=414.5ms, max=492.8ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=473.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:40:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:40:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:40:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:40:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:40:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:40:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:40:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:40:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069968m	[env.py: 870]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:40:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81495727  0.47277644  0.06996811] yaw=173.1deg	[env.py: 1019]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73641938  0.82210858  0.06996811] yaw=-158.6deg	[env.py: 1019]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89837554  0.28436421  0.06996811] yaw=170.3deg	[env.py: 1019]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:40:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.9ms, total=244.0ms	[env.py: 1075]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.473, 0.070)	[env.py: 1079]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg	[env.py: 1082]
+05/10 15:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:40:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:40:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:40:39 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:40:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:40:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:40:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:40:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:40:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.168s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:40:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.436[m] 85.271[deg]	[grasp_sample.py: 539]
+05/10 15:40:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:40:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:40:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:40:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:40:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:41:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:41:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:41:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:41:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:41:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.445s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:41:07 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.880[deg]	[grasp_sample.py: 539]
+05/10 15:41:08 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:41:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:41:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:41:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:41:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:41:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:41:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:41:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010732m	[env.py: 870]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:41:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00263854  1.00791837  0.01073184] yaw=-151.4deg	[env.py: 1019]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91553     0.59313921  0.01073184] yaw=-178.8deg	[env.py: 1019]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91241894  0.38884235  0.01073184] yaw=163.6deg	[env.py: 1019]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:41:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.0ms, total=69.0ms	[env.py: 1075]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.008, 0.011)	[env.py: 1079]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg	[env.py: 1082]
+05/10 15:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:41:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:41:10 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:41:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:41:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:41:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:41:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:41:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:41:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.487[m] 100.225[deg]	[grasp_sample.py: 539]
+05/10 15:41:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:41:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:41:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:41:21 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:41:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:41:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:41:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:41:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:42 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:41:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:41:42 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/10 15:41:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:41:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:41:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:41:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:41:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:41:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:41:48 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.889s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:41:48 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.130[deg]	[grasp_sample.py: 539]
+05/10 15:41:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:41:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:41:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:41:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:41:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:41:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:41:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.70s (batch: 3.61s, save: 11.09s)	[pipeline.py: 300]
+05/10 15:41:58 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
+  episode_total: mean=109.60s, total=328.81s, count=3, min=1961.9ms, max=181989.6ms
+  sensor_polling: mean=460.2ms, total=254.51s, count=553, min=387.7ms, max=1021.3ms
+  physics_step: mean=20.6ms, total=11.40s, count=553, min=13.2ms, max=105.2ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11089.6ms, max=11089.6ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3609.9ms, max=3609.9ms
+  task_sampling: mean=430.1ms, total=1.29s, count=3, min=294.0ms, max=607.6ms
+  task_specific_sample: mean=427.0ms, total=1.28s, count=3, min=291.3ms, max=604.3ms
+  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=378.0us, total=1.1ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:42:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:42:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:42:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:42:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:42:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:42:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:42:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050444m	[env.py: 870]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:42:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96107672  1.13540942  0.05044436] yaw=-130.4deg	[env.py: 1019]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:42:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.5ms	[env.py: 1075]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.961, 1.135, 0.050)	[env.py: 1079]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg	[env.py: 1082]
+05/10 15:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:42:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:42:00 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:42:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:42:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:42:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:42:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:42:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:42:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:42:02 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.586[m] 86.837[deg]	[grasp_sample.py: 539]
+05/10 15:42:03 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:42:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:42:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:42:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:42:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:42:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:42:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:42:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078004m	[env.py: 870]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:42:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77406938  0.25669873  0.0780039 ] yaw=166.7deg	[env.py: 1019]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8397963   0.86307881  0.0780039 ] yaw=-160.6deg	[env.py: 1019]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93167417  0.55170753  0.0780039 ] yaw=-182.3deg	[env.py: 1019]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:42:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=132.9ms	[env.py: 1075]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.257, 0.078)	[env.py: 1079]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg	[env.py: 1082]
+05/10 15:42:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:42:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:42:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:42:04 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:42:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:42:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:42:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:42:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:42:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:42:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.513[m] 95.607[deg]	[grasp_sample.py: 539]
+05/10 15:42:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:42:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:42:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:42:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:42:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:42:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:42:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:42:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:42:33 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:42:52 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:42:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 15:42:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:42:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:43:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:43:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:43:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 10.99s (batch: 3.62s, save: 7.37s)	[pipeline.py: 300]
+05/10 15:43:04 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s:
+  episode_total: mean=207.20s, total=207.20s, count=1, min=207204.8ms, max=207204.8ms
+  sensor_polling: mean=479.7ms, total=143.92s, count=300, min=407.9ms, max=1037.6ms
+  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7370.0ms, max=7370.0ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=14.3ms, max=67.8ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.8ms, max=3620.8ms
+  task_sampling: mean=397.3ms, total=397.3ms, count=1, min=397.3ms, max=397.3ms
+  task_specific_sample: mean=393.9ms, total=393.9ms, count=1, min=393.9ms, max=393.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=383.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:43:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:43:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:43:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:43:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:43:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:43:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:43:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:43:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038791m	[env.py: 870]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:43:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95762861  1.22364047  0.03879117] yaw=-141.0deg	[env.py: 1019]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66492268  0.30088829  0.03879117] yaw=164.0deg	[env.py: 1019]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69219998  0.26721462  0.03879117] yaw=169.4deg	[env.py: 1019]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:43:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.0ms, total=112.0ms	[env.py: 1075]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 1.224, 0.039)	[env.py: 1079]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg	[env.py: 1082]
+05/10 15:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:43:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:43:05 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:43:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:43:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:43:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:43:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:43:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.604s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:43:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 84.402[deg]	[grasp_sample.py: 539]
+05/10 15:43:08 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:43:08 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/10 15:43:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:43:10 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/10 15:43:10 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/10 15:43:10 INFO: [Worker 0] Worker 0 completed house 1: 8/8 successful episodes	[pipeline.py: 1323]
+05/10 15:43:10 INFO: [Worker 0] [PROFILE] House 1 complete: 8/8 successful, 8 episodes, total_time=4605.22s
+  House averages:
+  episode_total: mean=139.24s, total=2506.28s, count=18, min=3024.4ms, max=207204.8ms
+  sensor_polling: mean=447.1ms, total=1886.60s, count=4220, min=370.2ms, max=1037.6ms
+  physics_step: mean=20.6ms, total=87.02s, count=4220, min=12.7ms, max=112.3ms
+  save_trajectories: mean=8.57s, total=68.53s, count=8, min=7370.0ms, max=10538.9ms
+  save_batch_prep: mean=3.87s, total=30.95s, count=8, min=3620.8ms, max=4278.9ms
+  task_sampling: mean=621.0ms, total=11.18s, count=18, min=309.4ms, max=3072.7ms
+  task_specific_sample: mean=465.4ms, total=8.38s, count=18, min=306.0ms, max=1064.4ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
+  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
+  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
+  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
+  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
+  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  mj_forward_sync: mean=407.2us, total=7.3ms, count=18, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 15:43:10 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 15:43:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4605.22s
+  Worker averages:
+  episode_total: mean=139.24s, total=2506.28s, count=18, min=3024.4ms, max=207204.8ms
+  sensor_polling: mean=447.1ms, total=1886.60s, count=4220, min=370.2ms, max=1037.6ms
+  physics_step: mean=20.6ms, total=87.02s, count=4220, min=12.7ms, max=112.3ms
+  save_trajectories: mean=8.57s, total=68.53s, count=8, min=7370.0ms, max=10538.9ms
+  save_batch_prep: mean=3.87s, total=30.95s, count=8, min=3620.8ms, max=4278.9ms
+  task_sampling: mean=621.0ms, total=11.18s, count=18, min=309.4ms, max=3072.7ms
+  task_specific_sample: mean=465.4ms, total=8.38s, count=18, min=306.0ms, max=1064.4ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
+  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
+  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
+  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
+  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
+  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  mj_forward_sync: mean=407.2us, total=7.3ms, count=18, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 15:43:12 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 15:43:12 INFO: Success count: 8, Total count: 8	[pipeline.py: 1491]
+05/10 15:43:12 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 15:43:17 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:43:37 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:43:38 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:43:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:43:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:43:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:43:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:43:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.50s (batch: 3.60s, save: 7.91s)	[pipeline.py: 300]
+05/10 15:43:50 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.67s:
+  episode_total: mean=191.32s, total=191.32s, count=1, min=191315.7ms, max=191315.7ms
+  sensor_polling: mean=472.4ms, total=141.73s, count=300, min=403.6ms, max=891.2ms
+  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.0ms, max=7906.0ms
+  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.7ms, max=76.1ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3596.4ms, max=3596.4ms
+  task_sampling: mean=666.9ms, total=666.9ms, count=1, min=666.9ms, max=666.9ms
+  task_specific_sample: mean=662.9ms, total=662.9ms, count=1, min=662.9ms, max=662.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=496.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:43:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:43:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:43:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:43:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:43:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:43:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:43:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036824m	[env.py: 870]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:43:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85187948  0.16475516  0.03682397] yaw=161.0deg	[env.py: 1019]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:43:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.9ms, total=352.0ms	[env.py: 1075]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.165, 0.037)	[env.py: 1079]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
+05/10 15:43:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
+05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:43:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:43:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:43:52 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:43:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:43:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:43:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:43:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:43:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:43:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.468[m] 90.341[deg]	[grasp_sample.py: 539]
+05/10 15:43:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:43:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:43:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:44:02 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:44:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:44:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:44:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:44:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:44:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 12.15s (batch: 3.97s, save: 8.18s)	[pipeline.py: 300]
+05/10 15:44:15 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.17s:
+  episode_total: mean=162.36s, total=324.71s, count=2, min=139791.3ms, max=184919.1ms
+  sensor_polling: mean=453.9ms, total=252.83s, count=557, min=387.0ms, max=1001.4ms
+  physics_step: mean=21.7ms, total=12.10s, count=557, min=14.1ms, max=107.9ms
+  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8176.4ms, max=8176.4ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.2ms, max=3973.2ms
+  task_sampling: mean=586.9ms, total=1.17s, count=2, min=322.3ms, max=851.6ms
+  task_specific_sample: mean=583.8ms, total=1.17s, count=2, min=319.1ms, max=848.5ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.4ms, max=1.9ms
+  mj_forward_sync: mean=428.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:44:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:44:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:44:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:44:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:44:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:44:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:44:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016924m	[env.py: 870]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:44:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65024039  0.27041756  0.01692407] yaw=169.3deg	[env.py: 1019]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85200132  0.84241613  0.01692407] yaw=-146.8deg	[env.py: 1019]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69144209  0.55220124  0.01692407] yaw=-174.9deg	[env.py: 1019]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:44:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.1ms, total=103.1ms	[env.py: 1075]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.270, 0.017)	[env.py: 1079]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.3 deg	[env.py: 1082]
+05/10 15:44:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:44:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:44:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:44:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:44:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:44:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:44:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:44:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:44:18 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.611[m] 88.994[deg]	[grasp_sample.py: 539]
+05/10 15:44:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:44:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:44:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:44:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:44:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:44:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:44:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:44:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:44:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:44:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:44:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:44:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:44:40 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:44:40 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.123[deg]	[grasp_sample.py: 539]
+05/10 15:44:41 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:44:42 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/10 15:44:42 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/10 15:44:42 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/10 15:44:42 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4781.20s
+  House averages:
+  episode_total: mean=144.40s, total=2599.17s, count=18, min=1961.9ms, max=194067.9ms
+  sensor_polling: mean=448.7ms, total=1947.41s, count=4340, min=368.4ms, max=1021.3ms
+  physics_step: mean=20.2ms, total=87.85s, count=4340, min=12.3ms, max=105.2ms
+  save_trajectories: mean=8.30s, total=83.05s, count=10, min=7053.4ms, max=11089.6ms
+  save_batch_prep: mean=3.82s, total=38.21s, count=10, min=3609.9ms, max=4073.5ms
+  task_sampling: mean=606.7ms, total=10.92s, count=18, min=294.0ms, max=3329.4ms
+  task_specific_sample: mean=448.3ms, total=8.07s, count=18, min=291.3ms, max=675.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
+  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
+  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
+  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
+  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  scene_randomize: mean=1.9ms, total=34.7ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  mj_forward_sync: mean=412.9us, total=7.4ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 15:44:42 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 15:44:42 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4781.20s
+  Worker averages:
+  episode_total: mean=144.40s, total=2599.17s, count=18, min=1961.9ms, max=194067.9ms
+  sensor_polling: mean=448.7ms, total=1947.41s, count=4340, min=368.4ms, max=1021.3ms
+  physics_step: mean=20.2ms, total=87.85s, count=4340, min=12.3ms, max=105.2ms
+  save_trajectories: mean=8.30s, total=83.05s, count=10, min=7053.4ms, max=11089.6ms
+  save_batch_prep: mean=3.82s, total=38.21s, count=10, min=3609.9ms, max=4073.5ms
+  task_sampling: mean=606.7ms, total=10.92s, count=18, min=294.0ms, max=3329.4ms
+  task_specific_sample: mean=448.3ms, total=8.07s, count=18, min=291.3ms, max=675.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
+  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
+  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
+  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
+  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  scene_randomize: mean=1.9ms, total=34.7ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  mj_forward_sync: mean=412.9us, total=7.4ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 15:44:45 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 15:44:45 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/10 15:44:45 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/10 15:44:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:44:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:45:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:45:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:45:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:45:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:45:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:45:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:45:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:45:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:45:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.474[deg]	[grasp_sample.py: 539]
+05/10 15:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:45:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:45:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:45:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:46:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:46:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:46:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:46:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:46:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:46:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.399s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:46:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.419[deg]	[grasp_sample.py: 539]
+05/10 15:46:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:46:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:46:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:46:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:46:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:46:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:46:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:46:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:46:31 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:46:54 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:46:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:46:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:46:55 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:47:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:47:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:47:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 11.87s (batch: 4.14s, save: 7.74s)	[pipeline.py: 300]
+05/10 15:47:07 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.62s:
+  episode_total: mean=194.95s, total=194.95s, count=1, min=194949.9ms, max=194949.9ms
+  sensor_polling: mean=442.2ms, total=132.67s, count=300, min=375.1ms, max=684.4ms
+  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7738.1ms, max=7738.1ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=11.9ms, max=71.4ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4136.5ms, max=4136.5ms
+  task_sampling: mean=621.8ms, total=621.8ms, count=1, min=621.8ms, max=621.8ms
+  task_specific_sample: mean=617.9ms, total=617.9ms, count=1, min=617.9ms, max=617.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=454.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:47:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:47:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:47:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:47:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:47:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:47:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:47:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090941m	[env.py: 870]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:47:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79627506  0.37926547  0.09094105] yaw=174.7deg	[env.py: 1019]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93812119  1.03832252  0.09094105] yaw=-140.6deg	[env.py: 1019]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73889321  0.33137802  0.09094105] yaw=180.4deg	[env.py: 1019]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.8ms, total=190.8ms	[env.py: 1075]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.379, 0.091)	[env.py: 1079]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg	[env.py: 1082]
+05/10 15:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:47:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:47:09 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:47:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:47:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:47:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:47:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:47:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:47:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 95.930[deg]	[grasp_sample.py: 539]
+05/10 15:47:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:47:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:47:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:47:16 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:47:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:47:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:47:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:47:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:47:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.15s (batch: 4.19s, save: 9.96s)	[pipeline.py: 300]
+05/10 15:47:31 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.36s:
+  episode_total: mean=194.58s, total=194.58s, count=1, min=194582.7ms, max=194582.7ms
+  sensor_polling: mean=436.8ms, total=131.04s, count=300, min=365.6ms, max=819.4ms
+  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9957.3ms, max=9957.3ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=12.4ms, max=67.8ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4193.9ms, max=4193.9ms
+  task_sampling: mean=358.6ms, total=358.6ms, count=1, min=358.6ms, max=358.6ms
+  task_specific_sample: mean=355.0ms, total=355.0ms, count=1, min=355.0ms, max=355.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=389.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:47:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:47:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:47:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:47:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:47:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:47:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:47:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052707m	[env.py: 870]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:47:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72703923  0.60465551  0.05270706] yaw=-182.9deg	[env.py: 1019]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84979175  0.69486314  0.05270706] yaw=-162.9deg	[env.py: 1019]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.978336    0.71395464  0.05270706] yaw=-169.6deg	[env.py: 1019]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:47:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.2ms, total=99.2ms	[env.py: 1075]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.605, 0.053)	[env.py: 1079]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg	[env.py: 1082]
+05/10 15:47:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:47:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:47:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:47:33 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:47:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:47:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:47:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:47:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:47:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:47:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.524[m] 88.351[deg]	[grasp_sample.py: 539]
+05/10 15:47:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:47:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:47:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:47:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:48:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:48:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:48:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:48:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:48:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:49:49 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:49:50 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:50:11 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:50:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:50:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:50:12 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:50:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:50:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:50:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:50:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:50:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 13.04s (batch: 3.73s, save: 9.31s)	[pipeline.py: 300]
+05/10 15:50:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
+  episode_total: mean=196.13s, total=196.13s, count=1, min=196133.8ms, max=196133.8ms
+  sensor_polling: mean=430.7ms, total=129.20s, count=300, min=375.7ms, max=757.8ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9314.5ms, max=9314.5ms
+  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.3ms, max=35.5ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3728.2ms, max=3728.2ms
+  task_sampling: mean=469.3ms, total=469.3ms, count=1, min=469.3ms, max=469.3ms
+  task_specific_sample: mean=465.0ms, total=465.0ms, count=1, min=465.0ms, max=465.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=604.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:50:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:50:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:50:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:50:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:50:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:50:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:50:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062614m	[env.py: 870]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:50:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93304815  0.53133252  0.06261408] yaw=-177.5deg	[env.py: 1019]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94156803  1.02894797  0.06261408] yaw=-155.5deg	[env.py: 1019]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81124458  0.68511936  0.06261408] yaw=-174.6deg	[env.py: 1019]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.4ms, total=255.4ms	[env.py: 1075]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.531, 0.063)	[env.py: 1079]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg	[env.py: 1082]
+05/10 15:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
+05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:50:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:50:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:50:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:50:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:50:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 14.53s (batch: 3.51s, save: 11.02s)	[pipeline.py: 300]
+05/10 15:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:50:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:50:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:50:27 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s:
+  episode_total: mean=174.70s, total=174.70s, count=1, min=174702.5ms, max=174702.5ms
+  sensor_polling: mean=424.4ms, total=127.31s, count=300, min=370.1ms, max=897.1ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11021.5ms, max=11021.5ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.0ms, max=63.1ms
+  save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3510.6ms, max=3510.6ms
+  task_sampling: mean=355.1ms, total=355.1ms, count=1, min=355.1ms, max=355.1ms
+  task_specific_sample: mean=351.7ms, total=351.7ms, count=1, min=351.7ms, max=351.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=373.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:50:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:50:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.279[m] 81.906[deg]	[grasp_sample.py: 539]
+05/10 15:50:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:50:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:50:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:50:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:50:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:50:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:50:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:50:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:50:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:50:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031066m	[env.py: 870]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:50:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80405908  0.60332088  0.03106559] yaw=-169.6deg	[env.py: 1019]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81265179  0.09644433  0.03106559] yaw=148.5deg	[env.py: 1019]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9062088   0.68454184  0.03106559] yaw=-166.6deg	[env.py: 1019]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:50:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.8ms	[env.py: 1075]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.804, 0.603, 0.031)	[env.py: 1079]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.6 deg	[env.py: 1082]
+05/10 15:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:50:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:50:29 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:50:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:50:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:50:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:50:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:50:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:50:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 93.781[deg]	[grasp_sample.py: 539]
+05/10 15:50:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:50:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:50:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:50:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:51:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:51:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:51:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:51:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:51:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:51:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:51:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:51:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:52:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:52:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:52:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:52:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:52:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:52:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.405s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:52:01 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.758[deg]	[grasp_sample.py: 539]
+05/10 15:52:02 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:52:04 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/10 15:52:04 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/10 15:52:04 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
+05/10 15:52:04 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5573.03s
+  House averages:
+  episode_total: mean=168.91s, total=3040.30s, count=18, min=87083.9ms, max=198279.6ms
+  sensor_polling: mean=448.0ms, total=2230.34s, count=4978, min=375.1ms, max=1043.3ms
+  save_trajectories: mean=8.35s, total=116.93s, count=14, min=7369.2ms, max=11247.3ms
+  physics_step: mean=21.0ms, total=104.58s, count=4978, min=11.9ms, max=84.2ms
+  save_batch_prep: mean=3.93s, total=55.07s, count=14, min=3388.5ms, max=4589.4ms
+  task_sampling: mean=618.6ms, total=11.13s, count=18, min=325.0ms, max=3255.3ms
+  task_specific_sample: mean=464.8ms, total=8.37s, count=18, min=321.8ms, max=662.9ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
+  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
+  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
+  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
+  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
+  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
+  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=4.3ms
+  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  mj_forward_sync: mean=457.2us, total=8.2ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 15:52:04 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 15:52:04 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5573.03s
+  Worker averages:
+  episode_total: mean=168.91s, total=3040.30s, count=18, min=87083.9ms, max=198279.6ms
+  sensor_polling: mean=448.0ms, total=2230.34s, count=4978, min=375.1ms, max=1043.3ms
+  save_trajectories: mean=8.35s, total=116.93s, count=14, min=7369.2ms, max=11247.3ms
+  physics_step: mean=21.0ms, total=104.58s, count=4978, min=11.9ms, max=84.2ms
+  save_batch_prep: mean=3.93s, total=55.07s, count=14, min=3388.5ms, max=4589.4ms
+  task_sampling: mean=618.6ms, total=11.13s, count=18, min=325.0ms, max=3255.3ms
+  task_specific_sample: mean=464.8ms, total=8.37s, count=18, min=321.8ms, max=662.9ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
+  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
+  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
+  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
+  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
+  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
+  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=4.3ms
+  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  mj_forward_sync: mean=457.2us, total=8.2ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 15:52:06 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 15:52:06 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
+05/10 15:52:06 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 15:52:45 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:53:08 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_002	[pipeline.py: 1174]
+05/10 15:53:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:53:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:53:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:53:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002	[save_utils.py: 785]
+05/10 15:53:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_002 in 10.80s (batch: 3.36s, save: 7.44s)	[pipeline.py: 300]
+05/10 15:53:19 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
+  episode_total: mean=170.51s, total=170.51s, count=1, min=170506.0ms, max=170506.0ms
+  sensor_polling: mean=419.1ms, total=125.74s, count=300, min=369.4ms, max=733.2ms
+  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7440.8ms, max=7440.8ms
+  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.1ms, max=49.8ms
+  save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3361.1ms, max=3361.1ms
+  task_sampling: mean=426.7ms, total=426.7ms, count=1, min=426.7ms, max=426.7ms
+  task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:53:20 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/10 15:53:20 WARNING: [Worker 0] No trajectory data to save for chunk_002	[pipeline.py: 234]
+05/10 15:53:20 INFO: [Worker 0] Worker 0 completed house 1: 14/14 successful episodes	[pipeline.py: 1323]
+05/10 15:53:20 INFO: [Worker 0] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5745.65s
+  House averages:
+  episode_total: mean=173.24s, total=3118.40s, count=18, min=122365.1ms, max=195510.2ms
+  sensor_polling: mean=444.7ms, total=2318.75s, count=5214, min=351.9ms, max=1066.2ms
+  save_trajectories: mean=8.36s, total=117.08s, count=14, min=7312.4ms, max=11021.5ms
+  physics_step: mean=20.9ms, total=108.74s, count=5214, min=12.4ms, max=107.9ms
+  save_batch_prep: mean=4.02s, total=56.23s, count=14, min=3361.1ms, max=5141.5ms
+  task_sampling: mean=624.3ms, total=11.24s, count=18, min=321.1ms, max=3783.9ms
+  task_specific_sample: mean=453.9ms, total=8.17s, count=18, min=318.0ms, max=848.5ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
+  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
+  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
+  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
+  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
+  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=2.0ms, total=36.3ms, count=18, min=1.0ms, max=2.5ms
+  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  mj_forward_sync: mean=389.2us, total=7.0ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 15:53:20 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 15:53:20 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5745.65s
+  Worker averages:
+  episode_total: mean=173.24s, total=3118.40s, count=18, min=122365.1ms, max=195510.2ms
+  sensor_polling: mean=444.7ms, total=2318.75s, count=5214, min=351.9ms, max=1066.2ms
+  save_trajectories: mean=8.36s, total=117.08s, count=14, min=7312.4ms, max=11021.5ms
+  physics_step: mean=20.9ms, total=108.74s, count=5214, min=12.4ms, max=107.9ms
+  save_batch_prep: mean=4.02s, total=56.23s, count=14, min=3361.1ms, max=5141.5ms
+  task_sampling: mean=624.3ms, total=11.24s, count=18, min=321.1ms, max=3783.9ms
+  task_specific_sample: mean=453.9ms, total=8.17s, count=18, min=318.0ms, max=848.5ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
+  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
+  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
+  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
+  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
+  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=2.0ms, total=36.3ms, count=18, min=1.0ms, max=2.5ms
+  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  mj_forward_sync: mean=389.2us, total=7.0ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 15:53:23 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 15:53:23 INFO: Success count: 14, Total count: 14	[pipeline.py: 1491]
+05/10 15:53:23 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_002/shard_1_of_4.log b/fridge_7/chunk_002/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..e0ce7667756f96e9beb10180e496dd39242b34a0
--- /dev/null
+++ b/fridge_7/chunk_002/shard_1_of_4.log
@@ -0,0 +1,1815 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_002
+  shard=1/4  seed=20201  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:00:55 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 15:00:55 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 15:00:55 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_002'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 15:00:55 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x766e8ad0a310>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20201,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:00:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 15:00:55 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 15:00:55 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 130217152060240 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130217152060240 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 130217152060240 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130217152060240 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 130217144286160 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130217144286160 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130217144286800 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130217144286800 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130217144286800 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130217144286800 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130217144286160 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130217144286160 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130217145055056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130217145055056 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130217145048784 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130217145048784 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 130217145048784 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130217145048784 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130217145055056 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130217145055056 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 15:00:55 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 580b9a8f4150 at 0x766e8b297050>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 580b9a8f5c20 at 0x766e8b2a67d0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 580b9a8f5c20 at 0x766e8b232050>
+[05/10 15:00:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 15:00:58 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 15:00:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:00:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:00:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:00:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:00:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:00:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:00:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:00:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:00:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:00:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
+[05/10 15:00:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:00:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:00:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051103m
+[05/10 15:00:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:00:58 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 15:00:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:00:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6891747   0.70851847  0.05110259] yaw=-172.9deg
+[05/10 15:00:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:00:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03203777  1.00534542  0.05110259] yaw=-133.3deg
+[05/10 15:00:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:00:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98854436  1.08197534  0.05110259] yaw=-148.8deg
+[05/10 15:00:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:00:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:00:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=11.8ms, retries=79.3ms, total=91.2ms
+[05/10 15:00:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.689, 0.709, 0.051)
+[05/10 15:00:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg
+[05/10 15:00:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
+[05/10 15:00:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:00:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:00:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:00:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:00:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:00:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 15:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 23.939s
+[05/10 15:01:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:01:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:01:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.405s, found feasible grasp: True
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.584[m] 89.179[deg]
+[05/10 15:01:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:02:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:02:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:03:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 15:03:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:03:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
+[05/10 15:03:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:04:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 15:04:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:04:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.43s (batch: 3.86s, save: 7.58s)
+[05/10 15:04:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.07s:
+  episode_total: mean=195.20s, total=195.20s, count=1, min=195197.9ms, max=195197.9ms
+  sensor_polling: mean=425.4ms, total=127.63s, count=300, min=397.2ms, max=599.1ms
+  save_trajectories: mean=7.58s, total=7.58s, count=1, min=7575.4ms, max=7575.4ms
+  physics_step: mean=18.7ms, total=5.61s, count=300, min=15.5ms, max=27.6ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3858.9ms, max=3858.9ms
+  task_sampling: mean=3.07s, total=3.07s, count=1, min=3072.7ms, max=3072.7ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
+  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
+  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
+  task_specific_sample: mean=330.7ms, total=330.7ms, count=1, min=330.7ms, max=330.7ms
+  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
+  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
+  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=438.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=34.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:04:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:04:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:04:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:04:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:04:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:04:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:04:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:04:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:04:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:04:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:04:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
+[05/10 15:04:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:04:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:04:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025738m
+[05/10 15:04:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:04:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:04:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:04:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81251336  0.40575623  0.02573833] yaw=164.3deg
+[05/10 15:04:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:04:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:04:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:04:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63638621  0.53433413  0.02573833] yaw=-182.8deg
+[05/10 15:04:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:04:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:04:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:04:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms
+[05/10 15:04:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.813, 0.406, 0.026)
+[05/10 15:04:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg
+[05/10 15:04:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
+[05/10 15:04:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:04:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:04:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:04:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:04:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:04:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 15:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
+[05/10 15:04:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:04:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:04:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 15:04:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True
+[05/10 15:04:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.485[m] 96.677[deg]
+[05/10 15:04:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:04:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:06:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:06:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:06:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
+[05/10 15:06:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:07:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:07:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:07:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.65s (batch: 3.84s, save: 7.80s)
+[05/10 15:07:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.46s:
+  episode_total: mean=171.06s, total=171.06s, count=1, min=171060.8ms, max=171060.8ms
+  sensor_polling: mean=426.4ms, total=127.92s, count=300, min=384.6ms, max=620.9ms
+  save_trajectories: mean=7.80s, total=7.80s, count=1, min=7802.4ms, max=7802.4ms
+  physics_step: mean=20.1ms, total=6.04s, count=300, min=14.8ms, max=29.8ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3844.4ms, max=3844.4ms
+  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
+  task_specific_sample: mean=452.8ms, total=452.8ms, count=1, min=452.8ms, max=452.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=383.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:07:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:07:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:07:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:07:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:07:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:07:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:07:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:07:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:07:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:07:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:07:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
+[05/10 15:07:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:07:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:07:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036849m
+[05/10 15:07:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:07:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:07:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:07:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.12790014  1.17801895  0.03684898] yaw=-122.9deg
+[05/10 15:07:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:07:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93997321  0.84389195  0.03684898] yaw=-159.5deg
+[05/10 15:07:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:07:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73304657  0.2382169   0.03684898] yaw=170.9deg
+[05/10 15:07:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:07:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:07:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.0ms
+[05/10 15:07:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.128, 1.178, 0.037)
+[05/10 15:07:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -122.9 deg
+[05/10 15:07:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.902m
+[05/10 15:07:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:07:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:07:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:07:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:07:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:07:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 15:07:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
+[05/10 15:07:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:07:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:07:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 15:07:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.423s, found feasible grasp: True
+[05/10 15:07:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 80.244[deg]
+[05/10 15:07:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:07:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:07:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:07:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:08:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:09:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:09:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:09:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:09:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:09:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps
+[05/10 15:09:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.526s, found feasible grasp: True
+[05/10 15:09:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.335[deg]
+[05/10 15:09:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:09:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:09:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:09:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:09:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:09:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:09:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:09:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:09:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:09:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:09:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:09:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/10 15:09:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:09:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:09:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032027m
+[05/10 15:09:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:09:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:09:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92212591  0.49160605  0.03202726] yaw=-190.7deg
+[05/10 15:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84923984  0.53764319  0.03202726] yaw=-181.3deg
+[05/10 15:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81781825  0.98265701  0.03202726] yaw=-141.6deg
+[05/10 15:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:09:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:09:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.3ms, total=90.3ms
+[05/10 15:09:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.922, 0.492, 0.032)
+[05/10 15:09:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -190.7 deg
+[05/10 15:09:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.780m
+[05/10 15:09:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:09:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:09:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:09:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:09:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:09:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 15:09:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
+[05/10 15:09:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:09:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:09:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 15:09:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.425s, found feasible grasp: True
+[05/10 15:09:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.367[m] 97.342[deg]
+[05/10 15:09:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:09:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:09:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:10:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:11:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:11:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:11:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
+[05/10 15:11:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 296 timesteps
+[05/10 15:12:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:12:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:12:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.50s (batch: 3.96s, save: 10.54s)
+[05/10 15:12:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.72s:
+  episode_total: mean=153.08s, total=306.16s, count=2, min=126177.5ms, max=179984.8ms
+  sensor_polling: mean=439.6ms, total=231.24s, count=526, min=377.8ms, max=711.0ms
+  physics_step: mean=20.9ms, total=11.00s, count=526, min=14.2ms, max=50.5ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.9ms, max=10538.9ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3960.2ms, max=3960.2ms
+  task_sampling: mean=357.6ms, total=715.2ms, count=2, min=322.1ms, max=393.1ms
+  task_specific_sample: mean=354.3ms, total=708.5ms, count=2, min=319.3ms, max=389.3ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=403.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:12:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:12:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:12:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:12:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:12:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:12:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:12:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:12:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:12:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:12:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:12:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 15:12:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:12:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:12:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021003m
+[05/10 15:12:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:12:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:12:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:12:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:12:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93511618  0.32450016  0.02100292] yaw=177.1deg
+[05/10 15:12:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:12:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:12:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.5ms, total=281.6ms
+[05/10 15:12:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.935, 0.325, 0.021)
+[05/10 15:12:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.1 deg
+[05/10 15:12:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.783m
+[05/10 15:12:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:12:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:12:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:12:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:12:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:12:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 15:12:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
+[05/10 15:12:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:12:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:12:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 15:12:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True
+[05/10 15:12:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.358[m] 88.700[deg]
+[05/10 15:12:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:12:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:12:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:12:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:13:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:13:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:13:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:13:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:13:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:13:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:13:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:13:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:13:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:13:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:13:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:13:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:13:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 76 non-colliding grasps
+[05/10 15:13:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.458s, found feasible grasp: True
+[05/10 15:13:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.484[deg]
+[05/10 15:13:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:13:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:13:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:14:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:14:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:14:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:14:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:14:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:14:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 15:15:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:15:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:15:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 80 non-colliding grasps
+[05/10 15:15:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.126s, found feasible grasp: True
+[05/10 15:15:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.567[deg]
+[05/10 15:15:03 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:15:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:15:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:15:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:15:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:15:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:15:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:15:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:15:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 15:15:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:15:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:15:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061075m
+[05/10 15:15:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:15:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:15:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7674402   0.25677329  0.06107542] yaw=170.8deg
+[05/10 15:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:15:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70814616  0.17045231  0.06107542] yaw=154.8deg
+[05/10 15:15:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:15:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:15:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:15:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.1ms, total=234.1ms
+[05/10 15:15:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.257, 0.061)
+[05/10 15:15:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.8 deg
+[05/10 15:15:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m
+[05/10 15:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:15:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:15:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:15:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 15:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.062s
+[05/10 15:15:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:15:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:15:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 15:15:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True
+[05/10 15:15:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.542[m] 93.965[deg]
+[05/10 15:15:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:15:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:15:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:15:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:16:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:16:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:17:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:17:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:17:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:17:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:17:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:17:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps
+[05/10 15:17:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.382s, found feasible grasp: True
+[05/10 15:17:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.699[deg]
+[05/10 15:17:42 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:17:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:17:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:17:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:17:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:17:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:17:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:17:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:17:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:17:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:17:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:17:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
+[05/10 15:17:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:17:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:17:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091500m
+[05/10 15:17:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:17:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:17:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:17:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14870393  1.0364571   0.09150003] yaw=-126.7deg
+[05/10 15:17:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:17:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62720695  0.28220341  0.09150003] yaw=170.4deg
+[05/10 15:17:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:17:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93848095  0.30150289  0.09150003] yaw=164.0deg
+[05/10 15:17:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:17:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:17:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.6ms, total=73.6ms
+[05/10 15:17:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.149, 1.036, 0.092)
+[05/10 15:17:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.7 deg
+[05/10 15:17:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.784m
+[05/10 15:17:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:17:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:17:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:17:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:17:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:17:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 15:17:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 15:17:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:17:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:17:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:17:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.586s, found feasible grasp: True
+[05/10 15:17:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.374[m] 90.437[deg]
+[05/10 15:17:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:18:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:19:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:19:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:20:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:20:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:20:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:20:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:20:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:20:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps
+[05/10 15:20:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.538s, found feasible grasp: True
+[05/10 15:20:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.273[deg]
+[05/10 15:20:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:20:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:20:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:20:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:20:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:20:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:20:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:20:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:20:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:20:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:20:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:20:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 15:20:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:20:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:20:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055394m
+[05/10 15:20:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:20:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:20:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88465202  0.8716821   0.0553943 ] yaw=-164.2deg
+[05/10 15:20:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:20:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79937941  0.09115683  0.0553943 ] yaw=145.5deg
+[05/10 15:20:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:20:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:20:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=816.2ms, total=816.2ms
+[05/10 15:20:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.872, 0.055)
+[05/10 15:20:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.2 deg
+[05/10 15:20:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.906m
+[05/10 15:20:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:20:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:20:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:20:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:20:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:20:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 15:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
+[05/10 15:20:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:20:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:20:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
+[05/10 15:20:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.067s, found feasible grasp: True
+[05/10 15:20:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.444[m] 78.615[deg]
+[05/10 15:20:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:22:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:23:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:23:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
+[05/10 15:23:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:23:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:23:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:23:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.88s (batch: 4.11s, save: 7.77s)
+[05/10 15:23:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=2.41s:
+  episode_total: mean=163.92s, total=655.69s, count=4, min=144708.8ms, max=184089.6ms
+  sensor_polling: mean=449.1ms, total=515.53s, count=1148, min=378.9ms, max=901.5ms
+  physics_step: mean=21.0ms, total=24.07s, count=1148, min=12.7ms, max=95.8ms
+  save_trajectories: mean=7.77s, total=7.77s, count=1, min=7767.9ms, max=7767.9ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.0ms, max=4109.0ms
+  task_sampling: mean=601.9ms, total=2.41s, count=4, min=309.4ms, max=1067.7ms
+  task_specific_sample: mean=598.5ms, total=2.39s, count=4, min=306.0ms, max=1064.4ms
+  scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=432.3us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 15:23:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:23:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:23:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:23:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:23:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:23:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:23:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:23:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:23:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:23:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:23:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 15:23:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:23:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:23:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028266m
+[05/10 15:23:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:23:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:23:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:23:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9659717   0.16106573  0.0282664 ] yaw=153.8deg
+[05/10 15:23:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:23:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8724435   0.26175529  0.0282664 ] yaw=164.8deg
+[05/10 15:23:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:23:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:23:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.3ms, total=144.3ms
+[05/10 15:23:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.966, 0.161, 0.028)
+[05/10 15:23:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 153.8 deg
+[05/10 15:23:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.803m
+[05/10 15:23:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:23:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:23:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:23:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:23:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:23:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 15:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 15:23:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:23:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:23:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:23:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.463s, found feasible grasp: True
+[05/10 15:23:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.410[m] 98.628[deg]
+[05/10 15:23:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:23:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:23:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:23:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:24:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:24:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:25:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:25:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:25:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:25:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:25:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:25:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:25:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:25:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps
+[05/10 15:25:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.416s, found feasible grasp: True
+[05/10 15:25:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.133[deg]
+[05/10 15:25:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:25:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:25:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:25:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:25:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:25:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:25:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:25:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:25:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:25:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:25:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:25:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
+[05/10 15:25:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:25:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:25:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032934m
+[05/10 15:25:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:25:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:25:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:25:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70619424  0.88896327  0.03293427] yaw=-159.9deg
+[05/10 15:25:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:25:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:25:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:25:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77189898  0.72969017  0.03293427] yaw=-174.9deg
+[05/10 15:25:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:25:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75162876  0.31279469  0.03293427] yaw=165.3deg
+[05/10 15:25:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:25:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:25:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.5ms, total=388.5ms
+[05/10 15:25:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.889, 0.033)
+[05/10 15:25:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.9 deg
+[05/10 15:25:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
+[05/10 15:25:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:25:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:25:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:25:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:25:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:25:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 15:25:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 15:25:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:25:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:25:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 15:25:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.543s, found feasible grasp: True
+[05/10 15:25:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.674[m] 91.745[deg]
+[05/10 15:25:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:26:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:26:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:27:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:28:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:28:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
+[05/10 15:28:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:28:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:28:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:28:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.33s (batch: 4.28s, save: 10.05s)
+[05/10 15:28:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.99s:
+  episode_total: mean=149.14s, total=298.27s, count=2, min=116179.6ms, max=182091.9ms
+  sensor_polling: mean=444.1ms, total=223.40s, count=503, min=370.2ms, max=771.9ms
+  physics_step: mean=20.1ms, total=10.11s, count=503, min=14.4ms, max=112.3ms
+  save_trajectories: mean=10.05s, total=10.05s, count=1, min=10047.5ms, max=10047.5ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4278.9ms, max=4278.9ms
+  task_sampling: mean=496.1ms, total=992.1ms, count=2, min=394.6ms, max=597.5ms
+  task_specific_sample: mean=492.9ms, total=985.8ms, count=2, min=391.2ms, max=594.7ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=401.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:28:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:28:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:28:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:28:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:28:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:28:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:28:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:28:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:28:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:28:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:28:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
+[05/10 15:28:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:28:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:28:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094349m
+[05/10 15:28:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:28:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:28:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:28:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:28:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16839351  1.0296962   0.09434923] yaw=-141.6deg
+[05/10 15:28:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:28:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73555742  0.62744977  0.09434923] yaw=-179.8deg
+[05/10 15:28:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:28:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:28:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88863144  0.62848737  0.09434923] yaw=-173.4deg
+[05/10 15:28:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:28:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:28:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=464.5ms, total=464.5ms
+[05/10 15:28:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.168, 1.030, 0.094)
+[05/10 15:28:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg
+[05/10 15:28:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.765m
+[05/10 15:28:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:28:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:28:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:28:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:28:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:28:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 15:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 15:28:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:28:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:28:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:28:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True
+[05/10 15:28:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.351[m] 78.152[deg]
+[05/10 15:28:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:28:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:30:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:30:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:30:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:30:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:30:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:30:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:30:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:30:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:30:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:30:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:30:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:30:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps
+[05/10 15:30:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.387s, found feasible grasp: True
+[05/10 15:30:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.335[deg]
+[05/10 15:30:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:30:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:30:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:30:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:30:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:30:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:30:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:30:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:30:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:30:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:30:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:30:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
+[05/10 15:30:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:30:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:30:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058338m
+[05/10 15:30:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:30:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:30:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:30:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03761307  1.03416094  0.05833845] yaw=-143.4deg
+[05/10 15:30:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:30:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84980173  1.07652642  0.05833845] yaw=-134.8deg
+[05/10 15:30:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:30:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.789332    0.55429877  0.05833845] yaw=-176.8deg
+[05/10 15:30:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:30:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:30:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms
+[05/10 15:30:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.038, 1.034, 0.058)
+[05/10 15:30:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.4 deg
+[05/10 15:30:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.864m
+[05/10 15:30:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:30:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:30:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:30:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:30:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:30:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 15:30:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
+[05/10 15:30:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:30:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:30:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:30:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True
+[05/10 15:30:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.408[m] 82.942[deg]
+[05/10 15:30:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:30:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:30:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:31:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:31:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:31:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:32:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:32:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:32:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:32:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:32:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:33:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:33:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:33:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:33:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
+[05/10 15:33:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.381s, found feasible grasp: True
+[05/10 15:33:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.338[deg]
+[05/10 15:33:05 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:33:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:33:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:33:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:33:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:33:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:33:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:33:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:33:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:33:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:33:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:33:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
+[05/10 15:33:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:33:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:33:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046448m
+[05/10 15:33:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:33:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:33:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:33:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81807479  1.01093162  0.04644801] yaw=-150.7deg
+[05/10 15:33:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:33:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82674188  0.36126547  0.04644801] yaw=177.7deg
+[05/10 15:33:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:33:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01376668  1.06871172  0.04644801] yaw=-129.1deg
+[05/10 15:33:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:33:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:33:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms
+[05/10 15:33:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.818, 1.011, 0.046)
+[05/10 15:33:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg
+[05/10 15:33:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.030m
+[05/10 15:33:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:33:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:33:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:33:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:33:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:33:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 15:33:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
+[05/10 15:33:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:33:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:33:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:33:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.390s, found feasible grasp: True
+[05/10 15:33:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.602[m] 87.041[deg]
+[05/10 15:33:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:33:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:33:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:33:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:33:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:33:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:33:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:33:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:33:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:33:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:33:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:33:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
+[05/10 15:33:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:33:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:33:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045827m
+[05/10 15:33:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:33:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:33:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71795641  0.82880664  0.04582697] yaw=-158.5deg
+[05/10 15:33:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:33:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:33:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.9ms, total=202.9ms
+[05/10 15:33:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.718, 0.829, 0.046)
+[05/10 15:33:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg
+[05/10 15:33:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.044m
+[05/10 15:33:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:33:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:33:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:33:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:33:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:33:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 15:33:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 15:33:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:33:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:33:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 15:33:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.195s, found feasible grasp: True
+[05/10 15:33:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.588[m] 87.204[deg]
+[05/10 15:33:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:33:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:33:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:34:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:34:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:34:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:35:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:35:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:35:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
+[05/10 15:35:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:36:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:36:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:36:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 13.64s (batch: 3.65s, save: 9.99s)
+[05/10 15:36:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.98s:
+  episode_total: mean=117.73s, total=470.91s, count=4, min=3799.2ms, max=181033.6ms
+  sensor_polling: mean=451.6ms, total=380.74s, count=843, min=370.9ms, max=939.3ms
+  physics_step: mean=20.9ms, total=17.61s, count=843, min=13.3ms, max=84.1ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9991.1ms, max=9991.1ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3645.6ms, max=3645.6ms
+  task_sampling: mean=494.9ms, total=1.98s, count=4, min=315.3ms, max=747.6ms
+  task_specific_sample: mean=491.3ms, total=1.97s, count=4, min=312.5ms, max=743.1ms
+  scene_randomize: mean=1.8ms, total=7.3ms, count=4, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=409.4us, total=1.6ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 15:36:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:36:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:36:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:36:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:36:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:36:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:36:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
+[05/10 15:36:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:36:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:36:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019535m
+[05/10 15:36:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:36:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:36:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:36:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75742575  0.17922135  0.01953546] yaw=152.2deg
+[05/10 15:36:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:36:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8826288   0.56357826  0.01953546] yaw=-176.3deg
+[05/10 15:36:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:36:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77261319  0.6558228   0.01953546] yaw=-177.1deg
+[05/10 15:36:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:36:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:36:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.8ms, total=84.8ms
+[05/10 15:36:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.179, 0.020)
+[05/10 15:36:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.2 deg
+[05/10 15:36:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.992m
+[05/10 15:36:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:36:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 15:36:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 15:36:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:36:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:36:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:36:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.470s, found feasible grasp: True
+[05/10 15:36:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.617[m] 100.222[deg]
+[05/10 15:36:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:36:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:36:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:36:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:36:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:36:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:36:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:36:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
+[05/10 15:36:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:36:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:36:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064873m
+[05/10 15:36:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:36:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:36:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86866488  1.12694242  0.06487273] yaw=-140.7deg
+[05/10 15:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86811934  0.2034852   0.06487273] yaw=153.4deg
+[05/10 15:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:36:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01074509  1.23070773  0.06487273] yaw=-138.3deg
+[05/10 15:36:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:36:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:36:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.1ms, total=105.1ms
+[05/10 15:36:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.869, 1.127, 0.065)
+[05/10 15:36:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.7 deg
+[05/10 15:36:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.054m
+[05/10 15:36:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:36:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 15:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 15:36:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:36:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:36:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
+[05/10 15:36:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.410s, found feasible grasp: True
+[05/10 15:36:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.603[m] 83.737[deg]
+[05/10 15:36:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:38:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:38:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:38:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:38:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:38:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:38:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps
+[05/10 15:38:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 2.556s, found feasible grasp: True
+[05/10 15:38:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.600[deg]
+[05/10 15:38:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:38:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:39:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:39:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:39:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
+[05/10 15:39:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:39:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:39:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:39:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.07s (batch: 3.63s, save: 7.44s)
+[05/10 15:39:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.69s:
+  episode_total: mean=99.32s, total=198.63s, count=2, min=3024.4ms, max=195608.8ms
+  sensor_polling: mean=454.1ms, total=136.22s, count=300, min=397.3ms, max=726.7ms
+  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7437.5ms, max=7437.5ms
+  physics_step: mean=20.7ms, total=6.20s, count=300, min=13.7ms, max=60.2ms
+  save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3631.2ms, max=3631.2ms
+  task_sampling: mean=345.2ms, total=690.4ms, count=2, min=320.3ms, max=370.1ms
+  task_specific_sample: mean=342.1ms, total=684.3ms, count=2, min=317.7ms, max=366.6ms
+  scene_randomize: mean=1.7ms, total=3.5ms, count=2, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=372.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:39:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:39:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:39:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:39:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:39:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:39:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:39:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:39:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:39:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:39:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:39:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
+[05/10 15:39:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:39:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:39:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099156m
+[05/10 15:39:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:39:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:39:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:39:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:39:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81729541  0.20841457  0.09915578] yaw=162.1deg
+[05/10 15:39:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:39:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:39:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:39:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:39:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96895406  0.30623068  0.09915578] yaw=157.4deg
+[05/10 15:39:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:39:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83685355  0.73325956  0.09915578] yaw=-167.3deg
+[05/10 15:39:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:39:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:39:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=147.7ms, total=147.7ms
+[05/10 15:39:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.208, 0.099)
+[05/10 15:39:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg
+[05/10 15:39:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.926m
+[05/10 15:39:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:39:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:39:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:39:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:39:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:39:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 15:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.067s
+[05/10 15:39:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:39:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:39:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:39:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.469s, found feasible grasp: True
+[05/10 15:39:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.486[m] 91.171[deg]
+[05/10 15:39:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:40:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:40:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:41:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:41:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:41:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:41:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:41:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:41:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:41:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:41:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps
+[05/10 15:41:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.889s, found feasible grasp: True
+[05/10 15:41:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.130[deg]
+[05/10 15:41:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:41:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:42:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:42:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:42:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:42:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:42:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:42:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:42:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:42:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:42:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:42:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:42:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 1/4: 1 episodes
+[05/10 15:42:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:43:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:43:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:43:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 10.99s (batch: 3.62s, save: 7.37s)
+[05/10 15:43:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.40s:
+  episode_total: mean=207.20s, total=207.20s, count=1, min=207204.8ms, max=207204.8ms
+  sensor_polling: mean=479.7ms, total=143.92s, count=300, min=407.9ms, max=1037.6ms
+  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7370.0ms, max=7370.0ms
+  physics_step: mean=21.3ms, total=6.39s, count=300, min=14.3ms, max=67.8ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.8ms, max=3620.8ms
+  task_sampling: mean=397.3ms, total=397.3ms, count=1, min=397.3ms, max=397.3ms
+  task_specific_sample: mean=393.9ms, total=393.9ms, count=1, min=393.9ms, max=393.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=383.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:43:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:43:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:43:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:43:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:43:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:43:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:43:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:43:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:43:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:43:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
+[05/10 15:43:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:43:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:43:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038791m
+[05/10 15:43:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:43:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:43:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:43:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95762861  1.22364047  0.03879117] yaw=-141.0deg
+[05/10 15:43:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:43:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:43:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66492268  0.30088829  0.03879117] yaw=164.0deg
+[05/10 15:43:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:43:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:43:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69219998  0.26721462  0.03879117] yaw=169.4deg
+[05/10 15:43:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:43:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:43:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.0ms, total=112.0ms
+[05/10 15:43:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.958, 1.224, 0.039)
+[05/10 15:43:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.0 deg
+[05/10 15:43:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.051m
+[05/10 15:43:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:43:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:43:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:43:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:43:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 15:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 15:43:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:43:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:43:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 15:43:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.604s, found feasible grasp: True
+[05/10 15:43:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.626[m] 84.402[deg]
+[05/10 15:43:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:43:08 Worker 0 WARNING task_sampler.py:396] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose
+[05/10 15:43:10 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
+[05/10 15:43:10 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
+[05/10 15:43:10 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 8/8 successful episodes
+[05/10 15:43:10 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 8/8 successful, 8 episodes, total_time=4605.22s
+  House averages:
+  episode_total: mean=139.24s, total=2506.28s, count=18, min=3024.4ms, max=207204.8ms
+  sensor_polling: mean=447.1ms, total=1886.60s, count=4220, min=370.2ms, max=1037.6ms
+  physics_step: mean=20.6ms, total=87.02s, count=4220, min=12.7ms, max=112.3ms
+  save_trajectories: mean=8.57s, total=68.53s, count=8, min=7370.0ms, max=10538.9ms
+  save_batch_prep: mean=3.87s, total=30.95s, count=8, min=3620.8ms, max=4278.9ms
+  task_sampling: mean=621.0ms, total=11.18s, count=18, min=309.4ms, max=3072.7ms
+  task_specific_sample: mean=465.4ms, total=8.38s, count=18, min=306.0ms, max=1064.4ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
+  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
+  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
+  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
+  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
+  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  mj_forward_sync: mean=407.2us, total=7.3ms, count=18, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:43:10 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 15:43:10 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4605.22s
+  Worker averages:
+  episode_total: mean=139.24s, total=2506.28s, count=18, min=3024.4ms, max=207204.8ms
+  sensor_polling: mean=447.1ms, total=1886.60s, count=4220, min=370.2ms, max=1037.6ms
+  physics_step: mean=20.6ms, total=87.02s, count=4220, min=12.7ms, max=112.3ms
+  save_trajectories: mean=8.57s, total=68.53s, count=8, min=7370.0ms, max=10538.9ms
+  save_batch_prep: mean=3.87s, total=30.95s, count=8, min=3620.8ms, max=4278.9ms
+  task_sampling: mean=621.0ms, total=11.18s, count=18, min=309.4ms, max=3072.7ms
+  task_specific_sample: mean=465.4ms, total=8.38s, count=18, min=306.0ms, max=1064.4ms
+  scene_load: mean=2.74s, total=2.74s, count=1, min=2738.5ms, max=2738.5ms
+  scene_env_create: mean=1.93s, total=1.93s, count=1, min=1934.2ms, max=1934.2ms
+  scene_compile: mean=662.4ms, total=662.4ms, count=1, min=662.4ms, max=662.4ms
+  compile_mujoco: mean=485.0ms, total=485.0ms, count=1, min=485.0ms, max=485.0ms
+  compile_xml_load: mean=124.9ms, total=124.9ms, count=1, min=124.9ms, max=124.9ms
+  scene_asset_install: mean=84.2ms, total=84.2ms, count=1, min=84.2ms, max=84.2ms
+  scene_init: mean=57.5ms, total=57.5ms, count=1, min=57.5ms, max=57.5ms
+  asset_install_grasps: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  compile_aux_policy_objects: mean=38.6ms, total=38.6ms, count=1, min=38.6ms, max=38.6ms
+  scene_randomize: mean=1.8ms, total=33.1ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=25.1ms, total=25.1ms, count=1, min=25.1ms, max=25.1ms
+  asset_install_scene: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  mj_forward_sync: mean=407.2us, total=7.3ms, count=18, min=0.4ms, max=0.5ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=20.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:43:12 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 15:43:12 INFO pipeline.py:1491] Success count: 8, Total count: 8
+[05/10 15:43:12 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_002
+==========================================
diff --git a/fridge_7/chunk_002/shard_2_of_4.log b/fridge_7/chunk_002/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..4c57b88a3311860621c60c911b773f3f2bbdabd0
--- /dev/null
+++ b/fridge_7/chunk_002/shard_2_of_4.log
@@ -0,0 +1,1751 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_002
+  shard=2/4  seed=20202  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:00:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 15:00:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 15:00:54 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_002'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 15:00:54 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x749ca6f75b10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20202,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:00:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 15:00:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 15:00:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 128216162077136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 128216162077136 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 128216162077136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 128216162077136 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 128216164527312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128216164527312 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128216164528528 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128216164528528 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128216164528528 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128216164528528 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128216164527312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128216164527312 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128216168198032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128216168198032 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128216168191760 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128216168191760 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 128216168191760 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128216168191760 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128216168198032 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128216168198032 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 15:00:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 63d754f8a0c0 at 0x749ca750f750>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 63d754f8bb90 at 0x749ca6f33910>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 63d754f8bb90 at 0x749ca74a1290>
+[05/10 15:00:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:00:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
+[05/10 15:00:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:00:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:00:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069727m
+[05/10 15:00:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:00:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 15:00:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78023289  0.25399705  0.06972744] yaw=175.1deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12271724  1.21008531  0.06972744] yaw=-137.8deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:00:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:00:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=18.7ms, retries=437.3ms, total=455.9ms
+[05/10 15:00:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.780, 0.254, 0.070)
+[05/10 15:00:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.1 deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.950m
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:00:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:00:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.862s
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.632s, found feasible grasp: True
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.508[m] 86.733[deg]
+[05/10 15:01:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:02:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:02:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:03:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:03:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:03:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:03:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:03:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
+[05/10 15:03:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.627s, found feasible grasp: True
+[05/10 15:03:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.829[deg]
+[05/10 15:03:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:03:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:03:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:03:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:03:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:03:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:03:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:03:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:03:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:03:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:03:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:03:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 15:03:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:03:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:03:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053249m
+[05/10 15:03:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:03:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:03:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:03:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:03:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76947175  0.82204472  0.05324942] yaw=-168.3deg
+[05/10 15:03:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:03:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:03:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:03:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92157622  0.77025892  0.05324942] yaw=-163.4deg
+[05/10 15:03:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:03:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85212985  0.82298881  0.05324942] yaw=-147.3deg
+[05/10 15:03:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:03:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:03:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.8ms, total=317.8ms
+[05/10 15:03:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.822, 0.053)
+[05/10 15:03:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.3 deg
+[05/10 15:03:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
+[05/10 15:03:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:03:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:03:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:03:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:03:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:03:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 15:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
+[05/10 15:03:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:03:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:03:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
+[05/10 15:03:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.526s, found feasible grasp: True
+[05/10 15:03:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.584[m] 92.419[deg]
+[05/10 15:03:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:04:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:04:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:05:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 15:06:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:06:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:06:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:06:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 15:06:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:06:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.62s (batch: 4.22s, save: 7.40s)
+[05/10 15:06:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.37s:
+  episode_total: mean=164.55s, total=329.11s, count=2, min=160887.4ms, max=168217.8ms
+  sensor_polling: mean=425.9ms, total=240.62s, count=565, min=368.4ms, max=615.7ms
+  physics_step: mean=19.4ms, total=10.94s, count=565, min=14.2ms, max=32.9ms
+  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7400.7ms, max=7400.7ms
+  task_sampling: mean=2.19s, total=4.37s, count=2, min=587.7ms, max=3783.9ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4223.5ms, max=4223.5ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
+  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
+  task_specific_sample: mean=679.3ms, total=1.36s, count=2, min=585.2ms, max=773.4ms
+  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
+  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
+  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
+  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.0ms, max=1.3ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=367.7us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:06:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:06:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:06:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:06:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:06:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:06:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:06:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:06:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:06:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:06:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:06:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 15:06:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:06:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:06:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087335m
+[05/10 15:06:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:06:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:06:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70560077  0.50577496  0.08733465] yaw=-167.4deg
+[05/10 15:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.67504379  0.57067181  0.08733465] yaw=-177.3deg
+[05/10 15:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91832578  0.79003984  0.08733465] yaw=-166.8deg
+[05/10 15:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:06:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:06:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.1ms
+[05/10 15:06:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.506, 0.087)
+[05/10 15:06:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.4 deg
+[05/10 15:06:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.997m
+[05/10 15:06:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:06:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:06:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:06:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:06:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:06:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 15:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
+[05/10 15:06:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:06:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:06:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 15:06:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
+[05/10 15:06:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.598[m] 95.117[deg]
+[05/10 15:06:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:07:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:07:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:08:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:09:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:09:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:09:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:09:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:09:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:09:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.28s (batch: 3.97s, save: 7.31s)
+[05/10 15:09:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.47s:
+  episode_total: mean=174.89s, total=174.89s, count=1, min=174889.2ms, max=174889.2ms
+  sensor_polling: mean=424.2ms, total=127.25s, count=300, min=368.0ms, max=647.7ms
+  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7312.4ms, max=7312.4ms
+  physics_step: mean=19.0ms, total=5.71s, count=300, min=14.0ms, max=35.4ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3967.4ms, max=3967.4ms
+  task_sampling: mean=474.4ms, total=474.4ms, count=1, min=474.4ms, max=474.4ms
+  task_specific_sample: mean=470.6ms, total=470.6ms, count=1, min=470.6ms, max=470.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=382.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:09:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:09:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:09:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:09:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:09:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:09:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:09:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:09:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:09:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:09:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:09:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 15:09:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:09:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:09:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031032m
+[05/10 15:09:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:09:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:09:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:09:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92378805  0.74801072  0.03103215] yaw=-169.0deg
+[05/10 15:09:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:09:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98838141  0.09653354  0.03103215] yaw=151.6deg
+[05/10 15:09:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:09:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.6800414   0.09464083  0.03103215] yaw=157.3deg
+[05/10 15:09:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:09:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:09:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.9ms, total=104.9ms
+[05/10 15:09:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.924, 0.748, 0.031)
+[05/10 15:09:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg
+[05/10 15:09:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.823m
+[05/10 15:09:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:09:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:09:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:09:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:09:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:09:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 15:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
+[05/10 15:09:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:09:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:09:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:09:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.690s, found feasible grasp: True
+[05/10 15:09:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.410[m] 84.474[deg]
+[05/10 15:09:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:10:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:10:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:10:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:11:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:12:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:12:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:12:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:12:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:12:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:12:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.82s (batch: 3.81s, save: 8.01s)
+[05/10 15:12:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.41s:
+  episode_total: mean=182.69s, total=182.69s, count=1, min=182694.6ms, max=182694.6ms
+  sensor_polling: mean=453.7ms, total=136.10s, count=300, min=383.3ms, max=806.7ms
+  save_trajectories: mean=8.01s, total=8.01s, count=1, min=8007.1ms, max=8007.1ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=14.6ms, max=49.9ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3812.3ms, max=3812.3ms
+  task_sampling: mean=405.2ms, total=405.2ms, count=1, min=405.2ms, max=405.2ms
+  task_specific_sample: mean=401.7ms, total=401.7ms, count=1, min=401.7ms, max=401.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=368.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:12:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:12:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:12:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:12:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:12:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:12:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:12:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:12:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:12:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:12:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:12:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
+[05/10 15:12:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:12:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:12:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078753m
+[05/10 15:12:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:12:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:12:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:12:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:12:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:12:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72688142  0.36417524  0.07875303] yaw=171.7deg
+[05/10 15:12:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:12:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08394681  1.08118678  0.07875303] yaw=-139.4deg
+[05/10 15:12:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:12:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:12:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96252174  1.10673818  0.07875303] yaw=-144.6deg
+[05/10 15:12:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:12:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:12:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.7ms, total=260.8ms
+[05/10 15:12:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.364, 0.079)
+[05/10 15:12:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg
+[05/10 15:12:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
+[05/10 15:12:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:12:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:12:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:12:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:12:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:12:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 15:12:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 15:12:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:12:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:12:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:12:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True
+[05/10 15:12:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.557[m] 94.329[deg]
+[05/10 15:12:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:12:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:12:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:13:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:14:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:14:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:14:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:14:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:14:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:14:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:14:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
+[05/10 15:14:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.351s, found feasible grasp: True
+[05/10 15:14:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.297[deg]
+[05/10 15:14:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:15:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:15:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:15:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:15:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:15:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:15:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:15:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:15:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.48s (batch: 3.77s, save: 7.71s)
+[05/10 15:15:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=195.51s, total=195.51s, count=1, min=195510.2ms, max=195510.2ms
+  sensor_polling: mean=451.6ms, total=135.47s, count=300, min=377.2ms, max=824.0ms
+  save_trajectories: mean=7.71s, total=7.71s, count=1, min=7710.1ms, max=7710.1ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=13.1ms, max=66.1ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3768.3ms, max=3768.3ms
+  task_sampling: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
+  task_specific_sample: mean=487.3ms, total=487.3ms, count=1, min=487.3ms, max=487.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=374.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:15:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:15:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:15:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:15:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:15:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:15:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:15:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:15:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:15:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:15:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:15:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 15:15:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:15:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:15:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084600m
+[05/10 15:15:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:15:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:15:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:15:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85888419  0.27667371  0.08459955] yaw=156.4deg
+[05/10 15:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:15:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:15:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 154.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88504695  0.2310756   0.08459955] yaw=172.0deg
+[05/10 15:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76842707  0.21556228  0.08459955] yaw=156.8deg
+[05/10 15:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:15:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:15:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.4ms, total=139.4ms
+[05/10 15:15:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.859, 0.277, 0.085)
+[05/10 15:15:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg
+[05/10 15:15:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.868m
+[05/10 15:15:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:15:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:15:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:15:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:15:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:15:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 15:15:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 15:15:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:15:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:15:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:15:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.731s, found feasible grasp: True
+[05/10 15:15:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.451[m] 89.535[deg]
+[05/10 15:15:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:15:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:15:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:16:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:16:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:17:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:17:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:17:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:17:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:17:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:17:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:17:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
+[05/10 15:17:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.326s, found feasible grasp: True
+[05/10 15:17:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.918[deg]
+[05/10 15:17:46 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:17:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:17:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:17:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:17:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:17:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:17:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:17:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:17:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:17:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:17:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:17:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
+[05/10 15:17:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:17:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:17:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096079m
+[05/10 15:17:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:17:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:17:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92973054  0.94969255  0.09607925] yaw=-152.1deg
+[05/10 15:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94628923  1.17196324  0.09607925] yaw=-147.8deg
+[05/10 15:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67142639  0.79084276  0.09607925] yaw=-152.8deg
+[05/10 15:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:17:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:17:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.2ms, total=87.2ms
+[05/10 15:17:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.950, 0.096)
+[05/10 15:17:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg
+[05/10 15:17:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m
+[05/10 15:17:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:17:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:17:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:17:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:17:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:17:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 15:17:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
+[05/10 15:17:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:17:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:17:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
+[05/10 15:17:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.525s, found feasible grasp: True
+[05/10 15:17:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.489[m] 92.938[deg]
+[05/10 15:17:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:18:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:18:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:18:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:20:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:20:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:20:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:20:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:20:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:20:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:20:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.66s (batch: 3.92s, save: 7.74s)
+[05/10 15:20:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.72s:
+  episode_total: mean=151.16s, total=302.32s, count=2, min=122365.1ms, max=179954.6ms
+  sensor_polling: mean=455.3ms, total=240.42s, count=528, min=386.5ms, max=814.6ms
+  physics_step: mean=21.4ms, total=11.28s, count=528, min=14.5ms, max=73.4ms
+  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7735.6ms, max=7735.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3921.3ms, max=3921.3ms
+  task_sampling: mean=358.0ms, total=716.0ms, count=2, min=321.1ms, max=394.9ms
+  task_specific_sample: mean=354.9ms, total=709.8ms, count=2, min=318.0ms, max=391.8ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.3ms, max=2.0ms
+  mj_forward_sync: mean=372.3us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:20:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:20:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:20:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:20:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:20:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:20:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:20:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:20:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:20:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:20:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:20:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
+[05/10 15:20:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:20:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:20:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021715m
+[05/10 15:20:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:20:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:20:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:20:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73097765  0.80053144  0.02171546] yaw=-170.1deg
+[05/10 15:20:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:20:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 124.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73139211  0.19784628  0.02171546] yaw=153.7deg
+[05/10 15:20:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:20:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77906784  0.91390098  0.02171546] yaw=-159.1deg
+[05/10 15:20:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:20:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:20:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.3ms, total=184.3ms
+[05/10 15:20:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.801, 0.022)
+[05/10 15:20:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.1 deg
+[05/10 15:20:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.022m
+[05/10 15:20:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:20:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:20:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:20:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:20:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:20:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 15:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 15:20:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:20:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:20:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:20:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.398s, found feasible grasp: True
+[05/10 15:20:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.628[m] 91.363[deg]
+[05/10 15:20:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:20:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:20:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:21:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:22:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:23:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:23:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:23:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:23:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:23:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:23:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:23:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.46s (batch: 3.85s, save: 7.61s)
+[05/10 15:23:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.47s:
+  episode_total: mean=184.66s, total=184.66s, count=1, min=184663.8ms, max=184663.8ms
+  sensor_polling: mean=462.0ms, total=138.59s, count=300, min=390.4ms, max=1066.2ms
+  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7607.1ms, max=7607.1ms
+  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.4ms, max=44.8ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3852.7ms, max=3852.7ms
+  task_sampling: mean=471.4ms, total=471.4ms, count=1, min=471.4ms, max=471.4ms
+  task_specific_sample: mean=467.9ms, total=467.9ms, count=1, min=467.9ms, max=467.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=391.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:23:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:23:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:23:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:23:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:23:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:23:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:23:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:23:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:23:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:23:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:23:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
+[05/10 15:23:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:23:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:23:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001895m
+[05/10 15:23:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:23:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:23:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:23:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89403635  0.5861861   0.00189524] yaw=-180.0deg
+[05/10 15:23:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:23:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78270487  0.64632227  0.00189524] yaw=-177.3deg
+[05/10 15:23:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:23:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1595861   1.15852204  0.00189524] yaw=-118.7deg
+[05/10 15:23:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:23:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:23:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms
+[05/10 15:23:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.586, 0.002)
+[05/10 15:23:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.0 deg
+[05/10 15:23:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.815m
+[05/10 15:23:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:23:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:23:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:23:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:23:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:23:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 15:23:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 15:23:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:23:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:23:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:23:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.436s, found feasible grasp: True
+[05/10 15:23:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.342[m] 79.992[deg]
+[05/10 15:23:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:23:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:23:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:26:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:26:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:26:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:26:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
+[05/10 15:26:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:26:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:26:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.99s (batch: 3.77s, save: 8.22s)
+[05/10 15:26:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
+  episode_total: mean=181.97s, total=181.97s, count=1, min=181972.9ms, max=181972.9ms
+  sensor_polling: mean=466.1ms, total=134.24s, count=288, min=396.5ms, max=812.7ms
+  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8217.9ms, max=8217.9ms
+  physics_step: mean=21.9ms, total=6.30s, count=288, min=13.9ms, max=59.0ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3773.0ms, max=3773.0ms
+  task_sampling: mean=405.0ms, total=405.0ms, count=1, min=405.0ms, max=405.0ms
+  task_specific_sample: mean=401.5ms, total=401.5ms, count=1, min=401.5ms, max=401.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=391.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:26:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:26:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:26:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:26:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:26:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:26:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:26:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:26:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
+[05/10 15:26:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:26:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:26:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006727m
+[05/10 15:26:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:26:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:26:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06599904  0.95476062  0.00672662] yaw=-143.5deg
+[05/10 15:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.22528721  1.0654542   0.00672662] yaw=-131.2deg
+[05/10 15:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98588686  0.90346909  0.00672662] yaw=-155.2deg
+[05/10 15:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:26:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:26:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.7ms, total=94.7ms
+[05/10 15:26:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.066, 0.955, 0.007)
+[05/10 15:26:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.5 deg
+[05/10 15:26:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.793m
+[05/10 15:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:26:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:27:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:27:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 15:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 15:27:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:27:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:27:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 15:27:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True
+[05/10 15:27:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.368[m] 89.643[deg]
+[05/10 15:27:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:27:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:27:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:29:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:29:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:29:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:29:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:29:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:29:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:29:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:29:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:29:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 295 timesteps
+[05/10 15:30:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:30:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:30:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 13.33s (batch: 5.14s, save: 8.19s)
+[05/10 15:30:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
+  episode_total: mean=186.19s, total=186.19s, count=1, min=186193.5ms, max=186193.5ms
+  sensor_polling: mean=450.6ms, total=132.47s, count=294, min=394.0ms, max=826.1ms
+  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8191.0ms, max=8191.0ms
+  physics_step: mean=21.2ms, total=6.23s, count=294, min=14.2ms, max=53.3ms
+  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5141.5ms, max=5141.5ms
+  task_sampling: mean=356.3ms, total=356.3ms, count=1, min=356.3ms, max=356.3ms
+  task_specific_sample: mean=352.6ms, total=352.6ms, count=1, min=352.6ms, max=352.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=385.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:30:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:30:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:30:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:30:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:30:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:30:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:30:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:30:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:30:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:30:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:30:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
+[05/10 15:30:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:30:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:30:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045285m
+[05/10 15:30:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:30:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:30:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02160074  1.06498708  0.04528494] yaw=-132.0deg
+[05/10 15:30:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:30:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.08022114  1.13762463  0.04528494] yaw=-139.4deg
+[05/10 15:30:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:30:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:30:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.0ms, total=150.0ms
+[05/10 15:30:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.022, 1.065, 0.045)
+[05/10 15:30:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.0 deg
+[05/10 15:30:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.896m
+[05/10 15:30:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:30:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:30:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:30:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:30:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:30:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 15:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/10 15:30:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:30:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:30:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:30:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
+[05/10 15:30:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.502[m] 96.817[deg]
+[05/10 15:30:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:30:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:30:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:30:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:31:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:31:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:32:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:32:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:32:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:32:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:32:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:32:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:32:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:32:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
+[05/10 15:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.453s, found feasible grasp: True
+[05/10 15:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.361[deg]
+[05/10 15:32:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:32:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:32:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:32:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:32:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:32:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:32:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:32:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
+[05/10 15:32:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:32:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:32:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097569m
+[05/10 15:32:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:32:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:32:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69510615  0.87427323  0.09756912] yaw=-156.9deg
+[05/10 15:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82128021  0.69554009  0.09756912] yaw=-177.3deg
+[05/10 15:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9640902   1.04493337  0.09756912] yaw=-141.5deg
+[05/10 15:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:32:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:32:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms
+[05/10 15:32:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.874, 0.098)
+[05/10 15:32:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg
+[05/10 15:32:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.081m
+[05/10 15:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:32:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:32:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 15:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
+[05/10 15:32:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:32:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:32:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:32:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.725s, found feasible grasp: True
+[05/10 15:32:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.679[m] 92.995[deg]
+[05/10 15:32:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:32:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:32:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:33:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:33:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:35:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:35:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:35:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:35:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:35:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:35:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:35:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.53s (batch: 4.60s, save: 7.94s)
+[05/10 15:35:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
+  episode_total: mean=170.35s, total=340.71s, count=2, min=156382.6ms, max=184322.6ms
+  sensor_polling: mean=445.8ms, total=266.13s, count=597, min=351.9ms, max=884.4ms
+  physics_step: mean=20.7ms, total=12.36s, count=597, min=13.5ms, max=59.8ms
+  save_trajectories: mean=7.94s, total=7.94s, count=1, min=7939.3ms, max=7939.3ms
+  save_batch_prep: mean=4.60s, total=4.60s, count=1, min=4595.5ms, max=4595.5ms
+  task_sampling: mean=410.2ms, total=820.4ms, count=2, min=408.3ms, max=412.1ms
+  task_specific_sample: mean=406.9ms, total=813.8ms, count=2, min=405.3ms, max=408.5ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=433.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:35:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:35:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:35:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:35:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:35:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:35:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:35:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:35:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:35:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:35:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:35:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/10 15:35:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:35:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:35:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040870m
+[05/10 15:35:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:35:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:35:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:35:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:35:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:35:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:35:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93673663  0.68125278  0.04087015] yaw=-158.9deg
+[05/10 15:35:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:35:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:35:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:35:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=159.3ms, total=159.4ms
+[05/10 15:35:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.937, 0.681, 0.041)
+[05/10 15:35:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg
+[05/10 15:35:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m
+[05/10 15:35:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:35:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:35:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:35:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:35:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:35:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 15:35:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 15:35:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:35:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:35:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 15:35:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.547s, found feasible grasp: True
+[05/10 15:35:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.325[m] 81.194[deg]
+[05/10 15:35:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:35:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:35:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:36:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:36:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:38:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:38:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:38:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:38:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps
+[05/10 15:38:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:38:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:38:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.49s (batch: 4.14s, save: 10.36s)
+[05/10 15:38:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.41s:
+  episode_total: mean=175.85s, total=175.85s, count=1, min=175845.2ms, max=175845.2ms
+  sensor_polling: mean=458.1ms, total=130.55s, count=285, min=379.3ms, max=806.0ms
+  save_trajectories: mean=10.36s, total=10.36s, count=1, min=10357.9ms, max=10357.9ms
+  physics_step: mean=21.7ms, total=6.17s, count=285, min=13.8ms, max=107.7ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4135.7ms, max=4135.7ms
+  task_sampling: mean=412.3ms, total=412.3ms, count=1, min=412.3ms, max=412.3ms
+  task_specific_sample: mean=408.9ms, total=408.9ms, count=1, min=408.9ms, max=408.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=369.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:38:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:38:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:38:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:38:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:38:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:38:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:38:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:38:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:38:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:38:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:38:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 15:38:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:38:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:38:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077584m
+[05/10 15:38:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:38:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:38:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81451832  0.20813035  0.07758399] yaw=157.0deg
+[05/10 15:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:38:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80297408  1.06544951  0.07758399] yaw=-145.4deg
+[05/10 15:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:38:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11328017  0.9892049   0.07758399] yaw=-133.1deg
+[05/10 15:38:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:38:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:38:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=563.2ms, total=563.3ms
+[05/10 15:38:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.208, 0.078)
+[05/10 15:38:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg
+[05/10 15:38:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.929m
+[05/10 15:38:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:38:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:38:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:38:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:38:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:38:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 15:38:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/10 15:38:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:38:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:38:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:38:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True
+[05/10 15:38:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.487[m] 87.776[deg]
+[05/10 15:38:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:39:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:39:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:39:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:40:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:40:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:41:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:41:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:41:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:41:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:41:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:41:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:41:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps
+[05/10 15:41:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.445s, found feasible grasp: True
+[05/10 15:41:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.880[deg]
+[05/10 15:41:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:41:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:41:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:41:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:41:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:41:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:41:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:41:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:41:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:41:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:41:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:41:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 15:41:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:41:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:41:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010732m
+[05/10 15:41:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:41:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:41:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:41:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00263854  1.00791837  0.01073184] yaw=-151.4deg
+[05/10 15:41:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:41:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91553     0.59313921  0.01073184] yaw=-178.8deg
+[05/10 15:41:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:41:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91241894  0.38884235  0.01073184] yaw=163.6deg
+[05/10 15:41:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:41:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:41:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.0ms, total=69.0ms
+[05/10 15:41:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.008, 0.011)
+[05/10 15:41:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.4 deg
+[05/10 15:41:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.875m
+[05/10 15:41:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:41:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:41:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:41:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:41:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:41:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 15:41:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
+[05/10 15:41:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:41:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:41:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
+[05/10 15:41:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.566s, found feasible grasp: True
+[05/10 15:41:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.487[m] 100.225[deg]
+[05/10 15:41:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:41:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:42:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:42:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:42:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:43:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:44:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:44:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:44:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:44:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:44:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:44:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.15s (batch: 3.97s, save: 8.18s)
+[05/10 15:44:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=1.17s:
+  episode_total: mean=162.36s, total=324.71s, count=2, min=139791.3ms, max=184919.1ms
+  sensor_polling: mean=453.9ms, total=252.83s, count=557, min=387.0ms, max=1001.4ms
+  physics_step: mean=21.7ms, total=12.10s, count=557, min=14.1ms, max=107.9ms
+  save_trajectories: mean=8.18s, total=8.18s, count=1, min=8176.4ms, max=8176.4ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.2ms, max=3973.2ms
+  task_sampling: mean=586.9ms, total=1.17s, count=2, min=322.3ms, max=851.6ms
+  task_specific_sample: mean=583.8ms, total=1.17s, count=2, min=319.1ms, max=848.5ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.4ms, max=1.9ms
+  mj_forward_sync: mean=428.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:44:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:44:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:44:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:44:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:44:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:44:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:44:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:44:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:44:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:44:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
+[05/10 15:44:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:44:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:44:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016924m
+[05/10 15:44:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:44:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:44:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:44:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:44:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65024039  0.27041756  0.01692407] yaw=169.3deg
+[05/10 15:44:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:44:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85200132  0.84241613  0.01692407] yaw=-146.8deg
+[05/10 15:44:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:44:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:44:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69144209  0.55220124  0.01692407] yaw=-174.9deg
+[05/10 15:44:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:44:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:44:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.1ms, total=103.1ms
+[05/10 15:44:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.270, 0.017)
+[05/10 15:44:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.3 deg
+[05/10 15:44:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.073m
+[05/10 15:44:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:44:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:44:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:44:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:44:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 15:44:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 15:44:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:44:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:44:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 15:44:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True
+[05/10 15:44:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.611[m] 88.994[deg]
+[05/10 15:44:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:44:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:44:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:45:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:45:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:45:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:45:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:46:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:46:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:46:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:46:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
+[05/10 15:46:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.399s, found feasible grasp: True
+[05/10 15:46:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.419[deg]
+[05/10 15:46:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:46:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:46:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:46:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:47:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:47:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:47:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:47:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:47:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:47:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.15s (batch: 4.19s, save: 9.96s)
+[05/10 15:47:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.36s:
+  episode_total: mean=194.58s, total=194.58s, count=1, min=194582.7ms, max=194582.7ms
+  sensor_polling: mean=436.8ms, total=131.04s, count=300, min=365.6ms, max=819.4ms
+  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9957.3ms, max=9957.3ms
+  physics_step: mean=21.4ms, total=6.43s, count=300, min=12.4ms, max=67.8ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4193.9ms, max=4193.9ms
+  task_sampling: mean=358.6ms, total=358.6ms, count=1, min=358.6ms, max=358.6ms
+  task_specific_sample: mean=355.0ms, total=355.0ms, count=1, min=355.0ms, max=355.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=389.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:47:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:47:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:47:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:47:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:47:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:47:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:47:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:47:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:47:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:47:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:47:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 15:47:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:47:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:47:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052707m
+[05/10 15:47:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:47:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:47:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:47:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72703923  0.60465551  0.05270706] yaw=-182.9deg
+[05/10 15:47:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:47:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:47:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84979175  0.69486314  0.05270706] yaw=-162.9deg
+[05/10 15:47:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:47:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.978336    0.71395464  0.05270706] yaw=-169.6deg
+[05/10 15:47:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:47:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:47:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.2ms, total=99.2ms
+[05/10 15:47:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.605, 0.053)
+[05/10 15:47:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -182.9 deg
+[05/10 15:47:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
+[05/10 15:47:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:47:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:47:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:47:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:47:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:47:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 15:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 15:47:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:47:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:47:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:47:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.500s, found feasible grasp: True
+[05/10 15:47:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.524[m] 88.351[deg]
+[05/10 15:47:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:47:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:47:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:48:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:48:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:48:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:49:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:50:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:50:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:50:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:50:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:50:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:50:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.53s (batch: 3.51s, save: 11.02s)
+[05/10 15:50:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.36s:
+  episode_total: mean=174.70s, total=174.70s, count=1, min=174702.5ms, max=174702.5ms
+  sensor_polling: mean=424.4ms, total=127.31s, count=300, min=370.1ms, max=897.1ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11021.5ms, max=11021.5ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.0ms, max=63.1ms
+  save_batch_prep: mean=3.51s, total=3.51s, count=1, min=3510.6ms, max=3510.6ms
+  task_sampling: mean=355.1ms, total=355.1ms, count=1, min=355.1ms, max=355.1ms
+  task_specific_sample: mean=351.7ms, total=351.7ms, count=1, min=351.7ms, max=351.7ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=373.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:50:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:50:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:50:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:50:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:50:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:50:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:50:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:50:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:50:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:50:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 15:50:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:50:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:50:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031066m
+[05/10 15:50:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:50:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:50:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:50:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:50:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:50:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:50:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80405908  0.60332088  0.03106559] yaw=-169.6deg
+[05/10 15:50:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:50:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.81265179  0.09644433  0.03106559] yaw=148.5deg
+[05/10 15:50:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:50:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9062088   0.68454184  0.03106559] yaw=-166.6deg
+[05/10 15:50:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:50:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:50:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=166.8ms, total=166.8ms
+[05/10 15:50:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.804, 0.603, 0.031)
+[05/10 15:50:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.6 deg
+[05/10 15:50:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.906m
+[05/10 15:50:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:50:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:50:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:50:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:50:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 15:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 15:50:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:50:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:50:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 15:50:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.445s, found feasible grasp: True
+[05/10 15:50:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.470[m] 93.781[deg]
+[05/10 15:50:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:51:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:52:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:53:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:53:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 2/4: 1 episodes
+[05/10 15:53:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:53:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:53:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:53:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 10.80s (batch: 3.36s, save: 7.44s)
+[05/10 15:53:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s:
+  episode_total: mean=170.51s, total=170.51s, count=1, min=170506.0ms, max=170506.0ms
+  sensor_polling: mean=419.1ms, total=125.74s, count=300, min=369.4ms, max=733.2ms
+  save_trajectories: mean=7.44s, total=7.44s, count=1, min=7440.8ms, max=7440.8ms
+  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.1ms, max=49.8ms
+  save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3361.1ms, max=3361.1ms
+  task_sampling: mean=426.7ms, total=426.7ms, count=1, min=426.7ms, max=426.7ms
+  task_specific_sample: mean=423.3ms, total=423.3ms, count=1, min=423.3ms, max=423.3ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:53:20 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
+[05/10 15:53:20 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
+[05/10 15:53:20 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes
+[05/10 15:53:20 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5745.65s
+  House averages:
+  episode_total: mean=173.24s, total=3118.40s, count=18, min=122365.1ms, max=195510.2ms
+  sensor_polling: mean=444.7ms, total=2318.75s, count=5214, min=351.9ms, max=1066.2ms
+  save_trajectories: mean=8.36s, total=117.08s, count=14, min=7312.4ms, max=11021.5ms
+  physics_step: mean=20.9ms, total=108.74s, count=5214, min=12.4ms, max=107.9ms
+  save_batch_prep: mean=4.02s, total=56.23s, count=14, min=3361.1ms, max=5141.5ms
+  task_sampling: mean=624.3ms, total=11.24s, count=18, min=321.1ms, max=3783.9ms
+  task_specific_sample: mean=453.9ms, total=8.17s, count=18, min=318.0ms, max=848.5ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
+  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
+  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
+  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
+  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
+  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=2.0ms, total=36.3ms, count=18, min=1.0ms, max=2.5ms
+  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  mj_forward_sync: mean=389.2us, total=7.0ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:53:20 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 15:53:20 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5745.65s
+  Worker averages:
+  episode_total: mean=173.24s, total=3118.40s, count=18, min=122365.1ms, max=195510.2ms
+  sensor_polling: mean=444.7ms, total=2318.75s, count=5214, min=351.9ms, max=1066.2ms
+  save_trajectories: mean=8.36s, total=117.08s, count=14, min=7312.4ms, max=11021.5ms
+  physics_step: mean=20.9ms, total=108.74s, count=5214, min=12.4ms, max=107.9ms
+  save_batch_prep: mean=4.02s, total=56.23s, count=14, min=3361.1ms, max=5141.5ms
+  task_sampling: mean=624.3ms, total=11.24s, count=18, min=321.1ms, max=3783.9ms
+  task_specific_sample: mean=453.9ms, total=8.17s, count=18, min=318.0ms, max=848.5ms
+  scene_load: mean=3.01s, total=3.01s, count=1, min=3007.9ms, max=3007.9ms
+  scene_env_create: mean=2.00s, total=2.00s, count=1, min=2001.2ms, max=2001.2ms
+  scene_compile: mean=909.9ms, total=909.9ms, count=1, min=909.9ms, max=909.9ms
+  compile_mujoco: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
+  compile_xml_load: mean=305.4ms, total=305.4ms, count=1, min=305.4ms, max=305.4ms
+  scene_init: mean=58.4ms, total=58.4ms, count=1, min=58.4ms, max=58.4ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  scene_asset_install: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  scene_randomize: mean=2.0ms, total=36.3ms, count=18, min=1.0ms, max=2.5ms
+  asset_install_grasps: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  compile_robot_add: mean=14.5ms, total=14.5ms, count=1, min=14.5ms, max=14.5ms
+  asset_install_objects: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  mj_forward_sync: mean=389.2us, total=7.0ms, count=18, min=0.4ms, max=0.5ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:53:23 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 15:53:23 INFO pipeline.py:1491] Success count: 14, Total count: 14
+[05/10 15:53:23 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_002
+==========================================
diff --git a/fridge_7/chunk_002/shard_3_of_4.log b/fridge_7/chunk_002/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..3c02b9854867f63193c9f6a436c6a1897be18805
--- /dev/null
+++ b/fridge_7/chunk_002/shard_3_of_4.log
@@ -0,0 +1,1793 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_002
+  shard=3/4  seed=20203  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:00:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 15:00:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 15:00:54 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_002'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 15:00:54 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7e451c2c8250>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20203,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:00:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 15:00:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 15:00:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 138835287297488 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 138835287297488 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 138835287297488 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 138835287297488 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 138835292208144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138835292208144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138835292194256 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138835292194256 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138835292194256 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138835292194256 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138835292208144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138835292208144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138835287342928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138835287342928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138835287331728 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138835287331728 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 138835287331728 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138835287331728 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138835287342928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138835287342928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 15:00:55 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5746fc761460 at 0x7e451c82c690>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5746fc78f000 at 0x7e451c575c10>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5746fc78f000 at 0x7e451c7b7190>
+[05/10 15:00:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:00:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
+[05/10 15:00:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:00:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:00:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036580m
+[05/10 15:00:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:00:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 15:00:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89884597  0.91028408  0.03658038] yaw=-141.5deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.15053653  1.00781717  0.03658038] yaw=-125.3deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00025005  0.97762813  0.03658038] yaw=-143.7deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:00:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:00:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=18.0ms, retries=195.5ms, total=213.5ms
+[05/10 15:00:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.910, 0.037)
+[05/10 15:00:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:00:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:00:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 15:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.706s
+[05/10 15:01:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:01:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:01:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True
+[05/10 15:01:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.466[m] 85.895[deg]
+[05/10 15:01:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:02:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:02:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:02:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:03:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 15:03:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:03:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:03:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:04:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 15:04:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:04:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.30s (batch: 3.71s, save: 7.59s)
+[05/10 15:04:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.26s:
+  episode_total: mean=192.06s, total=192.06s, count=1, min=192057.3ms, max=192057.3ms
+  sensor_polling: mean=417.1ms, total=125.13s, count=300, min=396.1ms, max=667.9ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7589.2ms, max=7589.2ms
+  physics_step: mean=18.6ms, total=5.59s, count=300, min=14.1ms, max=28.0ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3709.9ms, max=3709.9ms
+  task_sampling: mean=3.26s, total=3.26s, count=1, min=3255.3ms, max=3255.3ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
+  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
+  task_specific_sample: mean=550.3ms, total=550.3ms, count=1, min=550.3ms, max=550.3ms
+  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
+  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
+  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
+  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
+  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=503.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=46.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:04:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:04:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:04:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:04:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:04:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:04:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:04:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 15:04:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:04:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:04:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082377m
+[05/10 15:04:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:04:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:04:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96994627  0.73308291  0.08237687] yaw=-158.5deg
+[05/10 15:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:04:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89392284  0.18969515  0.08237687] yaw=158.9deg
+[05/10 15:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:04:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91710894  0.65932631  0.08237687] yaw=-165.4deg
+[05/10 15:04:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:04:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:04:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.6ms, total=213.6ms
+[05/10 15:04:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.970, 0.733, 0.082)
+[05/10 15:04:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg
+[05/10 15:04:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
+[05/10 15:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:04:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:04:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:04:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 15:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.062s
+[05/10 15:04:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:04:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:04:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 15:04:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.484s, found feasible grasp: True
+[05/10 15:04:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 103.583[deg]
+[05/10 15:04:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:04:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:04:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:04:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:06:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:06:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:06:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:06:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:06:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:06:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:06:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.34s (batch: 3.84s, save: 7.50s)
+[05/10 15:06:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.48s:
+  episode_total: mean=170.28s, total=170.28s, count=1, min=170279.5ms, max=170279.5ms
+  sensor_polling: mean=433.3ms, total=130.00s, count=300, min=396.0ms, max=689.4ms
+  save_trajectories: mean=7.50s, total=7.50s, count=1, min=7496.9ms, max=7496.9ms
+  physics_step: mean=19.1ms, total=5.72s, count=300, min=14.1ms, max=28.8ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3843.3ms, max=3843.3ms
+  task_sampling: mean=480.6ms, total=480.6ms, count=1, min=480.6ms, max=480.6ms
+  task_specific_sample: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=401.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:07:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:07:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:07:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:07:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:07:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:07:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:07:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:07:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:07:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:07:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:07:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/10 15:07:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:07:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:07:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032421m
+[05/10 15:07:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:07:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:07:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84023761  0.2740782   0.03242079] yaw=171.6deg
+[05/10 15:07:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:07:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:07:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.5ms
+[05/10 15:07:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.274, 0.032)
+[05/10 15:07:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg
+[05/10 15:07:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.887m
+[05/10 15:07:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:07:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:07:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:07:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:07:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:07:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 15:07:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
+[05/10 15:07:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:07:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:07:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:07:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.449s, found feasible grasp: True
+[05/10 15:07:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.417[m] 82.088[deg]
+[05/10 15:07:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:07:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:07:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:07:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:07:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:09:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:09:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:09:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:09:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:09:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps
+[05/10 15:09:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.416s, found feasible grasp: True
+[05/10 15:09:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.023[deg]
+[05/10 15:09:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:09:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:09:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:09:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:10:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:10:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:10:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:10:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:10:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:10:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 15.41s (batch: 4.16s, save: 11.25s)
+[05/10 15:10:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
+  episode_total: mean=198.28s, total=198.28s, count=1, min=198279.6ms, max=198279.6ms
+  sensor_polling: mean=450.3ms, total=135.10s, count=300, min=399.2ms, max=680.4ms
+  save_trajectories: mean=11.25s, total=11.25s, count=1, min=11247.3ms, max=11247.3ms
+  physics_step: mean=21.5ms, total=6.44s, count=300, min=14.0ms, max=71.3ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.3ms, max=4158.3ms
+  task_sampling: mean=447.5ms, total=447.5ms, count=1, min=447.5ms, max=447.5ms
+  task_specific_sample: mean=444.2ms, total=444.2ms, count=1, min=444.2ms, max=444.2ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=377.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:10:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:10:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:10:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:10:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:10:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:10:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:10:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:10:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:10:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:10:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:10:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 15:10:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:10:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:10:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077367m
+[05/10 15:10:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:10:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:10:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:10:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:10:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:10:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:10:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99368348  0.15498562  0.07736748] yaw=145.1deg
+[05/10 15:10:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:10:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05468775  0.90873179  0.07736748] yaw=-144.0deg
+[05/10 15:10:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:10:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88689625  0.48472662  0.07736748] yaw=-188.5deg
+[05/10 15:10:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:10:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:10:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.5ms, total=99.5ms
+[05/10 15:10:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.994, 0.155, 0.077)
+[05/10 15:10:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 145.1 deg
+[05/10 15:10:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.780m
+[05/10 15:10:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:10:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:10:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:10:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:10:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:10:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 15:10:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
+[05/10 15:10:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:10:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:10:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:10:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.527s, found feasible grasp: True
+[05/10 15:10:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.346[m] 88.499[deg]
+[05/10 15:10:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:11:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:11:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:11:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:11:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:11:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:11:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:11:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:11:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:11:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:11:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:11:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:11:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
+[05/10 15:11:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.401s, found feasible grasp: True
+[05/10 15:11:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.153[deg]
+[05/10 15:11:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:11:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:11:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:11:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:11:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:11:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:11:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:11:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:11:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:11:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:11:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:11:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
+[05/10 15:11:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:11:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:11:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088089m
+[05/10 15:11:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:11:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:11:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:11:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:11:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:11:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:11:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:11:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06009079  1.12935863  0.08808877] yaw=-146.1deg
+[05/10 15:11:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:11:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.7225686   0.92062734  0.08808877] yaw=-154.4deg
+[05/10 15:11:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:11:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.93997913  0.7646681   0.08808877] yaw=-152.2deg
+[05/10 15:11:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:11:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:11:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.5ms, total=115.6ms
+[05/10 15:11:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.060, 1.129, 0.088)
+[05/10 15:11:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg
+[05/10 15:11:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
+[05/10 15:11:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:11:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:11:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:11:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:11:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:11:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 15:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 15:11:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:11:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:11:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:11:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.418s, found feasible grasp: True
+[05/10 15:11:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.549[m] 102.853[deg]
+[05/10 15:11:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:12:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:13:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 15:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:13:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:13:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:13:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 70 non-colliding grasps
+[05/10 15:13:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 0.389s, found feasible grasp: True
+[05/10 15:13:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.117[m] 0.720[deg]
+[05/10 15:13:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:13:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:13:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:13:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:13:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:14:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:14:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:14:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:14:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:14:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:14:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:14:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 13.56s (batch: 4.59s, save: 8.97s)
+[05/10 15:14:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.69s:
+  episode_total: mean=138.17s, total=276.35s, count=2, min=93130.9ms, max=183217.0ms
+  sensor_polling: mean=446.6ms, total=208.57s, count=467, min=376.0ms, max=746.5ms
+  physics_step: mean=20.5ms, total=9.58s, count=467, min=14.3ms, max=43.3ms
+  save_trajectories: mean=8.97s, total=8.97s, count=1, min=8971.2ms, max=8971.2ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.4ms, max=4589.4ms
+  task_sampling: mean=344.1ms, total=688.2ms, count=2, min=325.0ms, max=363.3ms
+  task_specific_sample: mean=340.8ms, total=681.7ms, count=2, min=321.8ms, max=359.9ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.4ms, max=2.2ms
+  mj_forward_sync: mean=463.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:14:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:14:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:14:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:14:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:14:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:14:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:14:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:14:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:14:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:14:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:14:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 15:14:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:14:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:14:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078336m
+[05/10 15:14:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:14:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:14:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:14:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:14:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79972811  0.34612724  0.07833636] yaw=160.9deg
+[05/10 15:14:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:14:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8327704   0.39363258  0.07833636] yaw=185.6deg
+[05/10 15:14:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:14:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.63431872  0.24141957  0.07833636] yaw=169.9deg
+[05/10 15:14:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:14:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:14:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms
+[05/10 15:14:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.346, 0.078)
+[05/10 15:14:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.9 deg
+[05/10 15:14:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.913m
+[05/10 15:14:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:14:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:14:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:14:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:14:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:14:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/10 15:15:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:15:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:15:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 15:15:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True
+[05/10 15:15:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.426[m] 77.445[deg]
+[05/10 15:15:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:15:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:15:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:15:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:16:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:16:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:17:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:17:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:17:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:17:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
+[05/10 15:17:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.328s, found feasible grasp: True
+[05/10 15:17:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.702[deg]
+[05/10 15:17:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:17:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:17:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:17:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:17:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:18:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:18:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:18:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:18:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:18:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:18:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.25s (batch: 4.13s, save: 8.12s)
+[05/10 15:18:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.44s:
+  episode_total: mean=193.87s, total=193.87s, count=1, min=193871.7ms, max=193871.7ms
+  sensor_polling: mean=456.1ms, total=136.84s, count=300, min=395.0ms, max=920.8ms
+  save_trajectories: mean=8.12s, total=8.12s, count=1, min=8118.6ms, max=8118.6ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=12.8ms, max=59.7ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.9ms, max=4130.9ms
+  task_sampling: mean=435.1ms, total=435.1ms, count=1, min=435.1ms, max=435.1ms
+  task_specific_sample: mean=430.8ms, total=430.8ms, count=1, min=430.8ms, max=430.8ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=521.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:18:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:18:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:18:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:18:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:18:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:18:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:18:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:18:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:18:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:18:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:18:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 15:18:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:18:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:18:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009979m
+[05/10 15:18:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:18:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:18:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79228681  0.21618343  0.00997862] yaw=154.4deg
+[05/10 15:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03597425  1.25858475  0.00997862] yaw=-120.3deg
+[05/10 15:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:18:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:18:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95127869  0.23257404  0.00997862] yaw=151.1deg
+[05/10 15:18:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:18:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:18:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.1ms, total=194.2ms
+[05/10 15:18:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.792, 0.216, 0.010)
+[05/10 15:18:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.4 deg
+[05/10 15:18:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.948m
+[05/10 15:18:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:18:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:18:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:18:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:18:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:18:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 15:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 15:18:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:18:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:18:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 15:18:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
+[05/10 15:18:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.547[m] 97.926[deg]
+[05/10 15:18:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:19:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:19:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:20:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:20:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:20:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:20:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:20:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
+[05/10 15:20:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.412s, found feasible grasp: True
+[05/10 15:20:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.577[deg]
+[05/10 15:20:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:20:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:20:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:20:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:20:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:20:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:20:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:20:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:20:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:20:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:20:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
+[05/10 15:20:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:20:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:20:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000768m
+[05/10 15:20:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:20:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:20:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:20:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-8.42590720e-01  5.47987871e-01  7.67912350e-04] yaw=-165.1deg
+[05/10 15:20:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:20:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:20:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.60610463e-01  3.90614416e-02  7.67912350e-04] yaw=161.4deg
+[05/10 15:20:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:20:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.83335701e-01  7.20817110e-01  7.67912350e-04] yaw=-155.7deg
+[05/10 15:20:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:20:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:20:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.2ms, total=102.2ms
+[05/10 15:20:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.548, 0.001)
+[05/10 15:20:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.1 deg
+[05/10 15:20:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.862m
+[05/10 15:20:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:20:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:20:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:20:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:20:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 15:20:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
+[05/10 15:20:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:20:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:20:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:20:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.400s, found feasible grasp: True
+[05/10 15:20:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.428[m] 89.275[deg]
+[05/10 15:20:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:21:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:21:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:23:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:23:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:23:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:23:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:23:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:23:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:23:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.25s (batch: 3.88s, save: 7.37s)
+[05/10 15:23:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.76s:
+  episode_total: mean=164.69s, total=329.38s, count=2, min=146969.5ms, max=182406.4ms
+  sensor_polling: mean=459.5ms, total=263.77s, count=574, min=393.1ms, max=1043.3ms
+  physics_step: mean=21.8ms, total=12.52s, count=574, min=13.6ms, max=84.2ms
+  save_trajectories: mean=7.37s, total=7.37s, count=1, min=7369.2ms, max=7369.2ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.7ms, max=3880.7ms
+  task_sampling: mean=381.8ms, total=763.5ms, count=2, min=325.9ms, max=437.6ms
+  task_specific_sample: mean=378.7ms, total=757.4ms, count=2, min=323.3ms, max=434.1ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.1ms, max=2.3ms
+  mj_forward_sync: mean=390.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:23:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:23:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:23:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:23:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:23:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:23:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:23:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:23:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:23:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:23:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
+[05/10 15:23:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:23:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:23:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098986m
+[05/10 15:23:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:23:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:23:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:23:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.6622719   0.54948757  0.09898566] yaw=-174.9deg
+[05/10 15:23:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:23:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.1245444   0.99484609  0.09898566] yaw=-128.0deg
+[05/10 15:23:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:23:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:23:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.6ms
+[05/10 15:23:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.549, 0.099)
+[05/10 15:23:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg
+[05/10 15:23:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.042m
+[05/10 15:23:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:23:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:23:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:23:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:23:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 15:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
+[05/10 15:23:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:23:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:23:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 15:23:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.496s, found feasible grasp: True
+[05/10 15:23:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.577[m] 86.633[deg]
+[05/10 15:23:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:24:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:24:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:26:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:26:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:26:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:26:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:26:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:26:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:26:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.73s (batch: 4.23s, save: 8.50s)
+[05/10 15:26:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
+  episode_total: mean=181.72s, total=181.72s, count=1, min=181716.5ms, max=181716.5ms
+  sensor_polling: mean=460.6ms, total=138.19s, count=300, min=398.1ms, max=750.0ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8499.9ms, max=8499.9ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=13.7ms, max=80.7ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.0ms, max=4226.0ms
+  task_sampling: mean=403.2ms, total=403.2ms, count=1, min=403.2ms, max=403.2ms
+  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=376.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:26:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:26:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:26:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:26:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:26:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:26:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:26:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:26:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:26:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:26:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:26:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 15:26:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:26:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:26:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030032m
+[05/10 15:26:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:26:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:26:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:26:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:26:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:26:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:26:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75309637  0.56371119  0.03003248] yaw=-168.7deg
+[05/10 15:26:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:26:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:26:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.60535339  0.40077535  0.03003248] yaw=181.7deg
+[05/10 15:26:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:26:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:26:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms
+[05/10 15:26:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.564, 0.030)
+[05/10 15:26:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg
+[05/10 15:26:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.953m
+[05/10 15:26:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:26:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:26:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:26:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:26:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:26:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 15:26:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 15:26:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:26:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:26:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:26:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
+[05/10 15:26:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.549[m] 100.082[deg]
+[05/10 15:26:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:27:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:27:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:29:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:29:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:29:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:29:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:29:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:29:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:29:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.30s (batch: 3.76s, save: 7.53s)
+[05/10 15:29:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.47s:
+  episode_total: mean=180.57s, total=180.57s, count=1, min=180572.0ms, max=180572.0ms
+  sensor_polling: mean=447.2ms, total=134.15s, count=300, min=398.8ms, max=942.0ms
+  save_trajectories: mean=7.53s, total=7.53s, count=1, min=7530.3ms, max=7530.3ms
+  physics_step: mean=20.1ms, total=6.02s, count=300, min=13.9ms, max=46.5ms
+  save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3764.8ms, max=3764.8ms
+  task_sampling: mean=470.9ms, total=470.9ms, count=1, min=470.9ms, max=470.9ms
+  task_specific_sample: mean=467.6ms, total=467.6ms, count=1, min=467.6ms, max=467.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=378.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:29:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:29:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:29:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:29:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:29:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:29:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:29:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:29:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:29:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:29:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:29:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/10 15:29:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:29:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:29:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040827m
+[05/10 15:29:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:29:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:29:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:29:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73009051  0.51927774  0.04082663] yaw=-179.7deg
+[05/10 15:29:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:29:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95023459  0.09503562  0.04082663] yaw=155.9deg
+[05/10 15:29:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:29:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:29:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:29:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:29:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:29:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.1ms, total=263.1ms
+[05/10 15:29:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.519, 0.041)
+[05/10 15:29:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.7 deg
+[05/10 15:29:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.973m
+[05/10 15:29:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:29:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:29:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:29:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:29:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:29:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 15:29:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.124s
+[05/10 15:29:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:29:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:29:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.149s, found 88 non-colliding grasps
+[05/10 15:29:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.101s, found feasible grasp: True
+[05/10 15:29:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.503[m] 84.840[deg]
+[05/10 15:29:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:30:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:30:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:30:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:32:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:32:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:32:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:32:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:32:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:32:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:32:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.56s (batch: 4.07s, save: 8.49s)
+[05/10 15:32:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.54s:
+  episode_total: mean=185.19s, total=185.19s, count=1, min=185188.1ms, max=185188.1ms
+  sensor_polling: mean=450.1ms, total=135.04s, count=300, min=386.6ms, max=874.8ms
+  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8486.0ms, max=8486.0ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=16.6ms, max=49.7ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4074.7ms, max=4074.7ms
+  task_sampling: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
+  task_specific_sample: mean=533.2ms, total=533.2ms, count=1, min=533.2ms, max=533.2ms
+  scene_randomize: mean=4.3ms, total=4.3ms, count=1, min=4.3ms, max=4.3ms
+  mj_forward_sync: mean=540.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:32:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:32:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:32:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:32:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:32:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:32:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:32:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:32:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:32:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:32:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:32:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 15:32:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:32:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:32:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029731m
+[05/10 15:32:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:32:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:32:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:32:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99189094  0.98107377  0.02973056] yaw=-139.4deg
+[05/10 15:32:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:32:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83088361  0.81899544  0.02973056] yaw=-161.4deg
+[05/10 15:33:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:33:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81495241  0.73327885  0.02973056] yaw=-160.9deg
+[05/10 15:33:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:33:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:33:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.2ms, total=173.2ms
+[05/10 15:33:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.992, 0.981, 0.030)
+[05/10 15:33:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.4 deg
+[05/10 15:33:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.868m
+[05/10 15:33:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:33:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:33:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:33:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:33:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:33:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 15:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.138s
+[05/10 15:33:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:33:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:33:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 15:33:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.799s, found feasible grasp: True
+[05/10 15:33:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.434[m] 83.432[deg]
+[05/10 15:33:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:33:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:33:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:33:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:33:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:35:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:35:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:35:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:35:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:36:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:36:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:36:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.29s (batch: 3.85s, save: 8.44s)
+[05/10 15:36:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
+  episode_total: mean=182.21s, total=182.21s, count=1, min=182210.7ms, max=182210.7ms
+  sensor_polling: mean=448.7ms, total=134.62s, count=300, min=382.0ms, max=714.9ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8445.0ms, max=8445.0ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.3ms, max=70.2ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3846.5ms, max=3846.5ms
+  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
+  task_specific_sample: mean=452.6ms, total=452.6ms, count=1, min=452.6ms, max=452.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=442.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:36:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:36:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:36:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:36:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:36:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:36:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:36:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
+[05/10 15:36:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:36:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:36:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005044m
+[05/10 15:36:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:36:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:36:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0160821   0.17638014  0.00504385] yaw=164.1deg
+[05/10 15:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:36:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92368884  0.23725385  0.00504385] yaw=172.3deg
+[05/10 15:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:36:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97173999  1.05392324  0.00504385] yaw=-145.1deg
+[05/10 15:36:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:36:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:36:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.1ms
+[05/10 15:36:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.016, 0.176, 0.005)
+[05/10 15:36:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.1 deg
+[05/10 15:36:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.751m
+[05/10 15:36:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:36:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 15:36:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
+[05/10 15:36:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:36:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:36:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 15:36:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.662s, found feasible grasp: True
+[05/10 15:36:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.316[m] 90.603[deg]
+[05/10 15:36:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:36:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:36:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:36:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:36:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:36:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:37:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:37:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:37:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:37:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:37:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:37:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:37:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:37:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:37:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:37:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps
+[05/10 15:37:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.735s, found feasible grasp: True
+[05/10 15:37:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.201[deg]
+[05/10 15:37:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:37:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:37:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:37:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:37:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:37:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:37:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:37:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:37:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:37:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:37:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
+[05/10 15:37:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:37:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:37:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051988m
+[05/10 15:37:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:37:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:37:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:37:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81219451  0.52414522  0.05198831] yaw=-172.3deg
+[05/10 15:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.00585799  1.01729826  0.05198831] yaw=-140.1deg
+[05/10 15:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:37:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90560748  0.36133104  0.05198831] yaw=168.3deg
+[05/10 15:37:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:37:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:37:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.2ms, total=203.2ms
+[05/10 15:37:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.524, 0.052)
+[05/10 15:37:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.3 deg
+[05/10 15:37:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m
+[05/10 15:37:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:37:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:37:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:37:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:37:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 15:37:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 15:37:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:37:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:37:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 15:37:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.244s, found feasible grasp: True
+[05/10 15:37:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.441[m] 84.801[deg]
+[05/10 15:37:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:37:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:37:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:38:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:40:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:40:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:40:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:40:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:40:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:40:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:40:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.61s (batch: 3.39s, save: 8.22s)
+[05/10 15:40:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.91s:
+  episode_total: mean=135.71s, total=271.43s, count=2, min=87083.9ms, max=184342.2ms
+  sensor_polling: mean=455.2ms, total=205.74s, count=452, min=401.0ms, max=766.3ms
+  physics_step: mean=20.6ms, total=9.33s, count=452, min=16.5ms, max=52.9ms
+  save_trajectories: mean=8.22s, total=8.22s, count=1, min=8219.1ms, max=8219.1ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3388.5ms, max=3388.5ms
+  task_sampling: mean=457.2ms, total=914.4ms, count=2, min=418.3ms, max=496.1ms
+  task_specific_sample: mean=453.7ms, total=907.3ms, count=2, min=414.5ms, max=492.8ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=473.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:40:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:40:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:40:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:40:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:40:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:40:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:40:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:40:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:40:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:40:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:40:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
+[05/10 15:40:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:40:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:40:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069968m
+[05/10 15:40:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:40:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:40:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:40:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:40:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81495727  0.47277644  0.06996811] yaw=173.1deg
+[05/10 15:40:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:40:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:40:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73641938  0.82210858  0.06996811] yaw=-158.6deg
+[05/10 15:40:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:40:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89837554  0.28436421  0.06996811] yaw=170.3deg
+[05/10 15:40:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:40:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:40:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.9ms, total=244.0ms
+[05/10 15:40:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.473, 0.070)
+[05/10 15:40:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.1 deg
+[05/10 15:40:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.887m
+[05/10 15:40:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:40:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:40:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:40:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:40:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:40:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 15:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s
+[05/10 15:40:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:40:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:40:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps
+[05/10 15:40:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.168s, found feasible grasp: True
+[05/10 15:40:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.436[m] 85.271[deg]
+[05/10 15:40:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:41:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:41:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:43:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:43:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:43:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:43:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:43:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:43:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:43:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.50s (batch: 3.60s, save: 7.91s)
+[05/10 15:43:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.67s:
+  episode_total: mean=191.32s, total=191.32s, count=1, min=191315.7ms, max=191315.7ms
+  sensor_polling: mean=472.4ms, total=141.73s, count=300, min=403.6ms, max=891.2ms
+  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.0ms, max=7906.0ms
+  physics_step: mean=21.7ms, total=6.52s, count=300, min=16.7ms, max=76.1ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3596.4ms, max=3596.4ms
+  task_sampling: mean=666.9ms, total=666.9ms, count=1, min=666.9ms, max=666.9ms
+  task_specific_sample: mean=662.9ms, total=662.9ms, count=1, min=662.9ms, max=662.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=496.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:43:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:43:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:43:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:43:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:43:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:43:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:43:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:43:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:43:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:43:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:43:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
+[05/10 15:43:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:43:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:43:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036824m
+[05/10 15:43:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:43:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:43:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:43:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:43:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85187948  0.16475516  0.03682397] yaw=161.0deg
+[05/10 15:43:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:43:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:43:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=351.9ms, total=352.0ms
+[05/10 15:43:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.165, 0.037)
+[05/10 15:43:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg
+[05/10 15:43:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.908m
+[05/10 15:43:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:43:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:43:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:43:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:43:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:43:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 15:43:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.120s
+[05/10 15:43:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:43:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:43:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.125s, found 88 non-colliding grasps
+[05/10 15:43:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True
+[05/10 15:43:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.468[m] 90.341[deg]
+[05/10 15:43:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:43:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:43:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:44:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:45:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:45:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:45:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:45:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:45:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:45:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:45:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:45:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
+[05/10 15:45:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.409s, found feasible grasp: True
+[05/10 15:45:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.474[deg]
+[05/10 15:45:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:46:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:46:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:46:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:46:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:46:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:46:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:47:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:47:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:47:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.87s (batch: 4.14s, save: 7.74s)
+[05/10 15:47:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.62s:
+  episode_total: mean=194.95s, total=194.95s, count=1, min=194949.9ms, max=194949.9ms
+  sensor_polling: mean=442.2ms, total=132.67s, count=300, min=375.1ms, max=684.4ms
+  save_trajectories: mean=7.74s, total=7.74s, count=1, min=7738.1ms, max=7738.1ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=11.9ms, max=71.4ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4136.5ms, max=4136.5ms
+  task_sampling: mean=621.8ms, total=621.8ms, count=1, min=621.8ms, max=621.8ms
+  task_specific_sample: mean=617.9ms, total=617.9ms, count=1, min=617.9ms, max=617.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=454.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:47:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:47:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:47:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:47:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:47:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:47:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:47:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
+[05/10 15:47:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:47:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:47:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090941m
+[05/10 15:47:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:47:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:47:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79627506  0.37926547  0.09094105] yaw=174.7deg
+[05/10 15:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93812119  1.03832252  0.09094105] yaw=-140.6deg
+[05/10 15:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73889321  0.33137802  0.09094105] yaw=180.4deg
+[05/10 15:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:47:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:47:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.8ms, total=190.8ms
+[05/10 15:47:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.796, 0.379, 0.091)
+[05/10 15:47:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.7 deg
+[05/10 15:47:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
+[05/10 15:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:47:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:47:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 15:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 15:47:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:47:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:47:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 15:47:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.709s, found feasible grasp: True
+[05/10 15:47:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.500[m] 95.930[deg]
+[05/10 15:47:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:47:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:47:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:47:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:48:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:49:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:50:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:50:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 3/4: 1 episodes
+[05/10 15:50:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:50:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:50:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:50:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 13.04s (batch: 3.73s, save: 9.31s)
+[05/10 15:50:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.47s:
+  episode_total: mean=196.13s, total=196.13s, count=1, min=196133.8ms, max=196133.8ms
+  sensor_polling: mean=430.7ms, total=129.20s, count=300, min=375.7ms, max=757.8ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9314.5ms, max=9314.5ms
+  physics_step: mean=19.7ms, total=5.91s, count=300, min=14.3ms, max=35.5ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3728.2ms, max=3728.2ms
+  task_sampling: mean=469.3ms, total=469.3ms, count=1, min=469.3ms, max=469.3ms
+  task_specific_sample: mean=465.0ms, total=465.0ms, count=1, min=465.0ms, max=465.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=604.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:50:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:50:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:50:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:50:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:50:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:50:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:50:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:50:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:50:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:50:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:50:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
+[05/10 15:50:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:50:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:50:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062614m
+[05/10 15:50:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:50:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:50:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:50:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:50:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:50:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93304815  0.53133252  0.06261408] yaw=-177.5deg
+[05/10 15:50:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:50:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:50:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94156803  1.02894797  0.06261408] yaw=-155.5deg
+[05/10 15:50:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:50:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.81124458  0.68511936  0.06261408] yaw=-174.6deg
+[05/10 15:50:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:50:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:50:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.4ms, total=255.4ms
+[05/10 15:50:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.933, 0.531, 0.063)
+[05/10 15:50:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg
+[05/10 15:50:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.771m
+[05/10 15:50:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:50:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:50:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:50:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:50:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:50:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 15:50:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
+[05/10 15:50:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:50:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:50:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 15:50:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.781s, found feasible grasp: True
+[05/10 15:50:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.279[m] 81.906[deg]
+[05/10 15:50:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:50:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:50:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:51:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:51:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:51:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:51:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:51:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:51:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:51:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:51:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:52:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:52:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:52:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:52:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:52:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:52:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:52:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
+[05/10 15:52:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.405s, found feasible grasp: True
+[05/10 15:52:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.758[deg]
+[05/10 15:52:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:52:04 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
+[05/10 15:52:04 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
+[05/10 15:52:04 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/14 successful episodes
+[05/10 15:52:04 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/14 successful, 14 episodes, total_time=5573.03s
+  House averages:
+  episode_total: mean=168.91s, total=3040.30s, count=18, min=87083.9ms, max=198279.6ms
+  sensor_polling: mean=448.0ms, total=2230.34s, count=4978, min=375.1ms, max=1043.3ms
+  save_trajectories: mean=8.35s, total=116.93s, count=14, min=7369.2ms, max=11247.3ms
+  physics_step: mean=21.0ms, total=104.58s, count=4978, min=11.9ms, max=84.2ms
+  save_batch_prep: mean=3.93s, total=55.07s, count=14, min=3388.5ms, max=4589.4ms
+  task_sampling: mean=618.6ms, total=11.13s, count=18, min=325.0ms, max=3255.3ms
+  task_specific_sample: mean=464.8ms, total=8.37s, count=18, min=321.8ms, max=662.9ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
+  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
+  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
+  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
+  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
+  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
+  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=4.3ms
+  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  mj_forward_sync: mean=457.2us, total=8.2ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:52:04 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 15:52:04 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5573.03s
+  Worker averages:
+  episode_total: mean=168.91s, total=3040.30s, count=18, min=87083.9ms, max=198279.6ms
+  sensor_polling: mean=448.0ms, total=2230.34s, count=4978, min=375.1ms, max=1043.3ms
+  save_trajectories: mean=8.35s, total=116.93s, count=14, min=7369.2ms, max=11247.3ms
+  physics_step: mean=21.0ms, total=104.58s, count=4978, min=11.9ms, max=84.2ms
+  save_batch_prep: mean=3.93s, total=55.07s, count=14, min=3388.5ms, max=4589.4ms
+  task_sampling: mean=618.6ms, total=11.13s, count=18, min=325.0ms, max=3255.3ms
+  task_specific_sample: mean=464.8ms, total=8.37s, count=18, min=321.8ms, max=662.9ms
+  scene_load: mean=2.70s, total=2.70s, count=1, min=2701.5ms, max=2701.5ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1782.0ms, max=1782.0ms
+  scene_compile: mean=701.5ms, total=701.5ms, count=1, min=701.5ms, max=701.5ms
+  compile_mujoco: mean=519.4ms, total=519.4ms, count=1, min=519.4ms, max=519.4ms
+  compile_xml_load: mean=126.1ms, total=126.1ms, count=1, min=126.1ms, max=126.1ms
+  scene_asset_install: mean=111.0ms, total=111.0ms, count=1, min=111.0ms, max=111.0ms
+  scene_init: mean=106.8ms, total=106.8ms, count=1, min=106.8ms, max=106.8ms
+  asset_install_grasps: mean=53.0ms, total=53.0ms, count=1, min=53.0ms, max=53.0ms
+  compile_aux_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  compile_aux_policy_objects: mean=42.9ms, total=42.9ms, count=1, min=42.9ms, max=42.9ms
+  scene_randomize: mean=2.3ms, total=41.8ms, count=18, min=1.1ms, max=4.3ms
+  asset_install_objects: mean=41.2ms, total=41.2ms, count=1, min=41.2ms, max=41.2ms
+  asset_install_scene: mean=16.7ms, total=16.7ms, count=1, min=16.7ms, max=16.7ms
+  mj_forward_sync: mean=457.2us, total=8.2ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=20.0us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:52:06 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 15:52:06 INFO pipeline.py:1491] Success count: 14, Total count: 14
+[05/10 15:52:06 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_002
+==========================================
diff --git a/fridge_7/chunk_002/shard_4_of_4.log b/fridge_7/chunk_002/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..abccddc1cb123067efb29aeb19427a926d17c611
--- /dev/null
+++ b/fridge_7/chunk_002/shard_4_of_4.log
@@ -0,0 +1,1756 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_002
+  shard=4/4  seed=20204  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:00:54 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 15:00:54 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 15:00:54 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_002'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 15:00:54 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_002'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x6ffc04edab90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20204,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:00:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 15:00:54 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 15:00:54 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 123128200098320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 123128200098320 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 123128200098320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 123128200098320 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 123128203345424 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123128203345424 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123128203336400 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123128203336400 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123128203336400 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123128203336400 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123128203345424 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123128203345424 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123128200184528 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123128200184528 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123128200185040 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123128200185040 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 123128200185040 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123128200185040 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123128200184528 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123128200184528 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 15:00:54 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 615bbf08aea0 at 0x6ffc0529de10>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 615bbf0b8a40 at 0x6ffc052b1150>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 615bbf0b8a40 at 0x6ffc0522f910>
+[05/10 15:00:57 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 15:00:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:00:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:00:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 15:00:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:00:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:00:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053209m
+[05/10 15:00:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:00:57 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 15:00:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08544823  1.25047879  0.05320852] yaw=-135.9deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:00:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88498926  0.94101857  0.05320852] yaw=-140.7deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:00:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:00:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=11.7ms, retries=287.4ms, total=299.2ms
+[05/10 15:00:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.250, 0.053)
+[05/10 15:00:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg
+[05/10 15:00:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.985m
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:00:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:00:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:00:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 15:01:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 23.521s
+[05/10 15:01:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:01:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:01:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
+[05/10 15:01:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.466s, found feasible grasp: True
+[05/10 15:01:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.594[m] 99.326[deg]
+[05/10 15:01:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:02:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:02:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:03:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:03:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:03:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:03:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:03:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:03:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
+[05/10 15:03:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.462s, found feasible grasp: True
+[05/10 15:03:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.612[deg]
+[05/10 15:03:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:03:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:03:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:03:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:03:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:03:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:03:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:03:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:03:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 15:03:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:03:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:03:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps
+[05/10 15:03:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 2.318s, found feasible grasp: True
+[05/10 15:03:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.774[deg]
+[05/10 15:03:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:03:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False
+[05/10 15:03:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=False episode_total=3.33s:
+  episode_total: mean=180.92s, total=180.92s, count=1, min=180917.1ms, max=180917.1ms
+  sensor_polling: mean=419.5ms, total=125.86s, count=300, min=389.3ms, max=544.1ms
+  physics_step: mean=18.2ms, total=5.46s, count=300, min=15.0ms, max=30.7ms
+  task_sampling: mean=3.33s, total=3.33s, count=1, min=3329.4ms, max=3329.4ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
+  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
+  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
+  task_specific_sample: mean=534.6ms, total=534.6ms, count=1, min=534.6ms, max=534.6ms
+  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
+  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=376.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:03:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:03:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:03:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:03:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:03:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:03:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:03:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:03:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:03:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:03:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 15:03:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:03:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:03:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085045m
+[05/10 15:03:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:03:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:03:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:03:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74069557  0.41509991  0.08504468] yaw=185.7deg
+[05/10 15:03:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:03:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:03:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0465061   1.04210827  0.08504468] yaw=-146.7deg
+[05/10 15:03:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:03:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93691723  0.93716346  0.08504468] yaw=-144.4deg
+[05/10 15:03:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:03:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:03:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.0ms, total=80.0ms
+[05/10 15:03:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.415, 0.085)
+[05/10 15:03:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 185.7 deg
+[05/10 15:03:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.964m
+[05/10 15:03:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:03:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:03:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:03:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:03:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 15:03:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
+[05/10 15:03:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:03:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:03:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 15:03:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.546s, found feasible grasp: True
+[05/10 15:03:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.503[m] 83.962[deg]
+[05/10 15:03:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:04:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:04:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:06:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:06:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:06:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:06:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:06:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:06:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:06:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:06:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:06:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:06:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 76 non-colliding grasps
+[05/10 15:06:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.457s, found feasible grasp: True
+[05/10 15:06:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.104[deg]
+[05/10 15:06:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:06:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:06:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:06:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:06:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 15:06:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:06:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:06:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:07:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 15:07:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:07:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.41s (batch: 3.98s, save: 7.43s)
+[05/10 15:07:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.31s:
+  episode_total: mean=184.32s, total=184.32s, count=1, min=184319.6ms, max=184319.6ms
+  sensor_polling: mean=428.4ms, total=128.51s, count=300, min=378.5ms, max=633.3ms
+  save_trajectories: mean=7.43s, total=7.43s, count=1, min=7429.7ms, max=7429.7ms
+  physics_step: mean=18.2ms, total=5.47s, count=300, min=12.3ms, max=28.9ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.5ms, max=3980.5ms
+  task_sampling: mean=310.2ms, total=310.2ms, count=1, min=310.2ms, max=310.2ms
+  task_specific_sample: mean=307.8ms, total=307.8ms, count=1, min=307.8ms, max=307.8ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=370.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:07:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:07:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:07:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:07:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:07:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:07:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:07:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:07:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:07:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:07:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
+[05/10 15:07:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:07:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:07:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000002m
+[05/10 15:07:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:07:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:07:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:07:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.07902449e-01  7.88697449e-01  2.41280722e-06] yaw=-169.0deg
+[05/10 15:07:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:07:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-9.96010881e-01  1.10399013e+00  2.41280722e-06] yaw=-141.1deg
+[05/10 15:07:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:07:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-6.59977840e-01  7.48446373e-01  2.41280722e-06] yaw=-165.3deg
+[05/10 15:07:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:07:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:07:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.2ms, total=180.3ms
+[05/10 15:07:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.789, 0.000)
+[05/10 15:07:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg
+[05/10 15:07:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.041m
+[05/10 15:07:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:07:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:07:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:07:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:07:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 15:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
+[05/10 15:07:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:07:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:07:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:07:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.535s, found feasible grasp: True
+[05/10 15:07:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.584[m] 86.671[deg]
+[05/10 15:07:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:07:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:07:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:08:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:09:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:09:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:09:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:09:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:10:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:10:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:10:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.57s (batch: 3.71s, save: 7.86s)
+[05/10 15:10:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
+  episode_total: mean=180.59s, total=180.59s, count=1, min=180593.2ms, max=180593.2ms
+  sensor_polling: mean=444.2ms, total=133.26s, count=300, min=375.9ms, max=678.7ms
+  save_trajectories: mean=7.86s, total=7.86s, count=1, min=7864.7ms, max=7864.7ms
+  physics_step: mean=20.1ms, total=6.03s, count=300, min=15.2ms, max=56.6ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3707.4ms, max=3707.4ms
+  task_sampling: mean=433.6ms, total=433.6ms, count=1, min=433.6ms, max=433.6ms
+  task_specific_sample: mean=430.0ms, total=430.0ms, count=1, min=430.0ms, max=430.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=378.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:10:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:10:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:10:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:10:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:10:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:10:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:10:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:10:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:10:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:10:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:10:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
+[05/10 15:10:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:10:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:10:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095425m
+[05/10 15:10:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:10:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:10:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:10:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.65203013  0.34418261  0.09542541] yaw=175.2deg
+[05/10 15:10:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:10:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:10:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.2ms, total=176.2ms
+[05/10 15:10:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.344, 0.095)
+[05/10 15:10:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg
+[05/10 15:10:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
+[05/10 15:10:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:10:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:10:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:10:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:10:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:10:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 15:10:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
+[05/10 15:10:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:10:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:10:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 15:10:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.251s, found feasible grasp: True
+[05/10 15:10:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.577[m] 82.406[deg]
+[05/10 15:10:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:11:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:12:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:12:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:12:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:12:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:12:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:12:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:12:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:12:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:12:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 78 non-colliding grasps
+[05/10 15:12:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.367s, found feasible grasp: True
+[05/10 15:12:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.103[deg]
+[05/10 15:12:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:12:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:12:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:12:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:12:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:13:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:13:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:13:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:13:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:13:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:13:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.34s (batch: 3.85s, save: 10.49s)
+[05/10 15:13:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.46s:
+  episode_total: mean=194.07s, total=194.07s, count=1, min=194067.9ms, max=194067.9ms
+  sensor_polling: mean=451.6ms, total=135.49s, count=300, min=368.4ms, max=743.9ms
+  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10490.4ms, max=10490.4ms
+  physics_step: mean=21.0ms, total=6.31s, count=300, min=13.9ms, max=65.0ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3845.2ms, max=3845.2ms
+  task_sampling: mean=461.2ms, total=461.2ms, count=1, min=461.2ms, max=461.2ms
+  task_specific_sample: mean=457.6ms, total=457.6ms, count=1, min=457.6ms, max=457.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=416.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:13:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:13:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:13:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:13:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:13:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:13:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:13:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:13:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.100m, effective arm-mount z=0.960m (base_body_z=0.100m, pedestal_h=0.860m)
+[05/10 15:13:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:13:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:13:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099813m
+[05/10 15:13:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:13:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:13:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:13:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93795384  0.66294678  0.09981321] yaw=-160.1deg
+[05/10 15:13:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:13:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:13:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08619709  0.9339351   0.09981321] yaw=-149.5deg
+[05/10 15:13:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:13:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:13:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79921174  0.38002563  0.09981321] yaw=178.0deg
+[05/10 15:13:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:13:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:13:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=330.1ms, total=330.1ms
+[05/10 15:13:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.663, 0.100)
+[05/10 15:13:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg
+[05/10 15:13:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/10 15:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:13:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:13:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 15:13:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
+[05/10 15:13:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:13:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:13:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 15:13:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.341s, found feasible grasp: True
+[05/10 15:13:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.328[m] 79.033[deg]
+[05/10 15:13:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:13:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:14:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:14:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:15:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:16:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:16:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:16:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 287 timesteps
+[05/10 15:16:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:16:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:16:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.12s (batch: 3.67s, save: 7.45s)
+[05/10 15:16:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.62s:
+  episode_total: mean=174.60s, total=174.60s, count=1, min=174598.6ms, max=174598.6ms
+  sensor_polling: mean=441.7ms, total=126.32s, count=286, min=375.6ms, max=837.0ms
+  save_trajectories: mean=7.45s, total=7.45s, count=1, min=7449.4ms, max=7449.4ms
+  physics_step: mean=19.9ms, total=5.68s, count=286, min=13.2ms, max=59.4ms
+  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3671.7ms, max=3671.7ms
+  task_sampling: mean=623.3ms, total=623.3ms, count=1, min=623.3ms, max=623.3ms
+  task_specific_sample: mean=618.8ms, total=618.8ms, count=1, min=618.8ms, max=618.8ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=550.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:16:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:16:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:16:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:16:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:16:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:16:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:16:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:16:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:16:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:16:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:16:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
+[05/10 15:16:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:16:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:16:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050739m
+[05/10 15:16:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:16:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:16:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:16:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06476794  1.09574171  0.05073862] yaw=-146.3deg
+[05/10 15:16:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:16:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:16:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:16:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:16:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82688415  0.39980859  0.05073862] yaw=184.2deg
+[05/10 15:16:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:16:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.08058758  1.12339745  0.05073862] yaw=-126.6deg
+[05/10 15:16:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:16:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:16:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.1ms, total=188.2ms
+[05/10 15:16:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.096, 0.051)
+[05/10 15:16:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg
+[05/10 15:16:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.885m
+[05/10 15:16:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:16:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:16:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:16:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:16:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:16:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 15:16:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 15:16:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:16:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:16:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 15:16:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.702s, found feasible grasp: True
+[05/10 15:16:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.474[m] 83.276[deg]
+[05/10 15:16:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:16:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:16:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:16:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:16:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:16:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:16:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:16:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
+[05/10 15:16:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:16:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:16:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008644m
+[05/10 15:16:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:16:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:16:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13326756  1.14191362  0.0086438 ] yaw=-131.9deg
+[05/10 15:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94126145  0.99284866  0.0086438 ] yaw=-144.8deg
+[05/10 15:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:16:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:16:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73476093  0.1094199   0.0086438 ] yaw=162.9deg
+[05/10 15:16:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:16:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:16:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.9ms, total=266.9ms
+[05/10 15:16:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.133, 1.142, 0.009)
+[05/10 15:16:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg
+[05/10 15:16:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
+[05/10 15:16:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:16:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:16:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:16:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:16:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:16:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 15:16:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.148s
+[05/10 15:16:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:16:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:16:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 15:16:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.425s, found feasible grasp: True
+[05/10 15:16:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.482[m] 92.991[deg]
+[05/10 15:16:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:17:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:17:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:18:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:18:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:18:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:18:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:18:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:18:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:18:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps
+[05/10 15:18:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 2.246s, found feasible grasp: True
+[05/10 15:18:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.102[m] 0.723[deg]
+[05/10 15:18:37 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:18:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:18:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:18:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:18:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:18:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:18:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:18:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:18:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:18:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:18:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:18:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
+[05/10 15:18:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:18:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:18:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052371m
+[05/10 15:18:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:18:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:18:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:18:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:18:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:18:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96662751  0.87196964  0.05237131] yaw=-153.5deg
+[05/10 15:18:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:18:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:18:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:18:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.69501703  0.61102335  0.05237131] yaw=-163.2deg
+[05/10 15:18:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:18:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8347338   0.34234054  0.05237131] yaw=162.7deg
+[05/10 15:18:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:18:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:18:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.4ms, total=143.5ms
+[05/10 15:18:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.872, 0.052)
+[05/10 15:18:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.5 deg
+[05/10 15:18:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.833m
+[05/10 15:18:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:18:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:18:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:18:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:18:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:18:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 15:18:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
+[05/10 15:18:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:18:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:18:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 15:18:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
+[05/10 15:18:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.416[m] 93.587[deg]
+[05/10 15:18:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:18:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:18:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:21:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:21:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:21:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:21:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:21:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:21:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:21:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 12.83s (batch: 4.05s, save: 8.79s)
+[05/10 15:21:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.53s:
+  episode_total: mean=106.35s, total=319.06s, count=3, min=3343.2ms, max=180722.9ms
+  sensor_polling: mean=442.5ms, total=242.47s, count=548, min=385.7ms, max=748.5ms
+  physics_step: mean=19.7ms, total=10.82s, count=548, min=16.2ms, max=54.0ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8786.6ms, max=8786.6ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.4ms, max=4045.4ms
+  task_sampling: mean=511.3ms, total=1.53s, count=3, min=445.9ms, max=633.0ms
+  task_specific_sample: mean=508.1ms, total=1.52s, count=3, min=442.3ms, max=629.9ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=423.5us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=28.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 15:21:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:21:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:21:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:21:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:21:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:21:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:21:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:21:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:21:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:21:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:21:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
+[05/10 15:21:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:21:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:21:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071254m
+[05/10 15:21:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:21:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:21:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:21:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83921142  0.63069891  0.07125417] yaw=-168.0deg
+[05/10 15:21:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:21:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:21:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:21:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:21:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:21:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81235381  0.95340447  0.07125417] yaw=-150.6deg
+[05/10 15:21:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:21:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:21:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=420.7ms, total=420.7ms
+[05/10 15:21:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.839, 0.631, 0.071)
+[05/10 15:21:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.0 deg
+[05/10 15:21:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
+[05/10 15:21:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:21:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:21:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:21:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:21:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:21:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 15:21:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.134s
+[05/10 15:21:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:21:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:21:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 15:21:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.938s, found feasible grasp: True
+[05/10 15:21:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.405[m] 82.867[deg]
+[05/10 15:21:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:22:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:22:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:24:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:24:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:24:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:24:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:24:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:24:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:24:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.68s (batch: 4.00s, save: 7.68s)
+[05/10 15:24:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.68s:
+  episode_total: mean=182.66s, total=182.66s, count=1, min=182661.1ms, max=182661.1ms
+  sensor_polling: mean=455.8ms, total=136.74s, count=300, min=387.1ms, max=950.9ms
+  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7679.6ms, max=7679.6ms
+  physics_step: mean=20.2ms, total=6.05s, count=300, min=16.3ms, max=37.6ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.7ms, max=3997.7ms
+  task_sampling: mean=680.5ms, total=680.5ms, count=1, min=680.5ms, max=680.5ms
+  task_specific_sample: mean=675.9ms, total=675.9ms, count=1, min=675.9ms, max=675.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=525.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:24:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:24:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:24:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:24:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:24:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:24:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:24:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:24:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:24:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:24:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:24:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 15:24:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:24:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:24:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073596m
+[05/10 15:24:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:24:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:24:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:24:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:24:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08831835  1.03317619  0.07359559] yaw=-145.6deg
+[05/10 15:24:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:24:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01472324  1.26988384  0.07359559] yaw=-132.7deg
+[05/10 15:24:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:24:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06882473  1.05541412  0.07359559] yaw=-132.8deg
+[05/10 15:24:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:24:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:24:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.9ms, total=71.9ms
+[05/10 15:24:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.088, 1.033, 0.074)
+[05/10 15:24:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg
+[05/10 15:24:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.825m
+[05/10 15:24:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:24:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:24:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:24:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:24:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:24:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 15:24:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 15:24:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:24:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:24:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:24:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True
+[05/10 15:24:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 89.625[deg]
+[05/10 15:24:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:25:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:25:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:25:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:27:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:27:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:27:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:27:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:27:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:27:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:27:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:27:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:27:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:27:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
+[05/10 15:27:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.370s, found feasible grasp: True
+[05/10 15:27:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.328[deg]
+[05/10 15:27:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:27:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:27:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:27:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:27:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:27:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:27:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:27:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:27:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:27:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:27:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:27:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 15:27:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:27:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:27:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087005m
+[05/10 15:27:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:27:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:27:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:27:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:27:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69422756  0.62982091  0.08700527] yaw=-167.6deg
+[05/10 15:27:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:27:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65857643  0.28595789  0.08700527] yaw=180.4deg
+[05/10 15:27:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:27:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85502324  0.3042946   0.08700527] yaw=164.2deg
+[05/10 15:27:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:27:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:27:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms
+[05/10 15:27:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.694, 0.630, 0.087)
+[05/10 15:27:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg
+[05/10 15:27:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.019m
+[05/10 15:27:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:27:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:27:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:27:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:27:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:27:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 15:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
+[05/10 15:27:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:27:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:27:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 15:27:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.555s, found feasible grasp: True
+[05/10 15:27:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.612[m] 90.307[deg]
+[05/10 15:27:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:27:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:27:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:28:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:28:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:29:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:30:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:30:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:30:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:30:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:30:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:30:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.13s (batch: 4.07s, save: 7.05s)
+[05/10 15:30:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.72s:
+  episode_total: mean=164.38s, total=328.77s, count=2, min=146613.8ms, max=182153.7ms
+  sensor_polling: mean=458.3ms, total=262.61s, count=573, min=376.8ms, max=940.3ms
+  physics_step: mean=20.8ms, total=11.92s, count=573, min=13.1ms, max=81.6ms
+  save_trajectories: mean=7.05s, total=7.05s, count=1, min=7053.4ms, max=7053.4ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.5ms, max=4073.5ms
+  task_sampling: mean=362.5ms, total=725.0ms, count=2, min=358.9ms, max=366.1ms
+  task_specific_sample: mean=359.3ms, total=718.6ms, count=2, min=356.1ms, max=362.5ms
+  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.2ms, max=2.3ms
+  mj_forward_sync: mean=377.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 15:30:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:30:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:30:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:30:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:30:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:30:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:30:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:30:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:30:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:30:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 15:30:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:30:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:30:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030632m
+[05/10 15:30:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:30:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:30:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:30:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76894735  0.04336054  0.03063199] yaw=163.8deg
+[05/10 15:30:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:30:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98721149  1.09231124  0.03063199] yaw=-147.1deg
+[05/10 15:30:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:30:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:30:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72960445  0.71444591  0.03063199] yaw=-167.0deg
+[05/10 15:30:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:30:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:30:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.0ms, total=111.1ms
+[05/10 15:30:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.043, 0.031)
+[05/10 15:30:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg
+[05/10 15:30:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
+[05/10 15:30:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:30:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:30:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:30:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:30:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 15:30:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 15:30:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:30:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:30:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:30:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.403s, found feasible grasp: True
+[05/10 15:30:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.647[m] 98.487[deg]
+[05/10 15:30:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:30:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:30:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:31:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:32:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:33:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:33:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:33:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:33:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:33:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:33:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.12s (batch: 3.64s, save: 7.48s)
+[05/10 15:33:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.36s:
+  episode_total: mean=182.30s, total=182.30s, count=1, min=182296.7ms, max=182296.7ms
+  sensor_polling: mean=458.0ms, total=137.41s, count=300, min=382.1ms, max=885.6ms
+  save_trajectories: mean=7.48s, total=7.48s, count=1, min=7476.4ms, max=7476.4ms
+  physics_step: mean=21.4ms, total=6.41s, count=300, min=13.1ms, max=65.4ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3642.8ms, max=3642.8ms
+  task_sampling: mean=361.1ms, total=361.1ms, count=1, min=361.1ms, max=361.1ms
+  task_specific_sample: mean=357.9ms, total=357.9ms, count=1, min=357.9ms, max=357.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=385.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:33:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:33:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:33:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:33:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:33:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:33:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:33:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:33:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:33:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:33:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:33:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 15:33:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:33:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:33:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056292m
+[05/10 15:33:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:33:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:33:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:33:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73904673  0.91318457  0.05629218] yaw=-160.4deg
+[05/10 15:33:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:33:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:33:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03678903  0.83399649  0.05629218] yaw=-144.6deg
+[05/10 15:33:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:33:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8151208   1.0056714   0.05629218] yaw=-139.9deg
+[05/10 15:33:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:33:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:33:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.9ms, total=133.9ms
+[05/10 15:33:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.913, 0.056)
+[05/10 15:33:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.4 deg
+[05/10 15:33:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
+[05/10 15:33:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:33:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:33:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:33:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:33:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:33:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 15:33:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 15:33:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:33:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:33:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
+[05/10 15:33:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.451s, found feasible grasp: True
+[05/10 15:33:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.653[m] 83.862[deg]
+[05/10 15:33:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:33:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:33:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:34:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:34:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:34:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:35:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:36:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:36:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:36:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:36:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:36:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:36:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 11.36s (batch: 3.64s, save: 7.73s)
+[05/10 15:36:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s:
+  episode_total: mean=183.25s, total=183.25s, count=1, min=183247.9ms, max=183247.9ms
+  sensor_polling: mean=459.7ms, total=137.90s, count=300, min=372.9ms, max=804.5ms
+  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7727.2ms, max=7727.2ms
+  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.4ms, max=64.3ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3636.0ms, max=3636.0ms
+  task_sampling: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
+  task_specific_sample: mean=397.5ms, total=397.5ms, count=1, min=397.5ms, max=397.5ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=375.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:36:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:36:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:36:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:36:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:36:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:36:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 15:36:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:36:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:36:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013061m
+[05/10 15:36:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:36:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:36:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9212015   1.23256921  0.01306125] yaw=-142.2deg
+[05/10 15:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01179847  1.19291771  0.01306125] yaw=-127.9deg
+[05/10 15:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93625057  1.22653123  0.01306125] yaw=-141.1deg
+[05/10 15:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:36:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:36:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.1ms, total=91.1ms
+[05/10 15:36:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.921, 1.233, 0.013)
+[05/10 15:36:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg
+[05/10 15:36:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
+[05/10 15:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:36:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 15:36:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 15:36:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:36:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:36:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 15:36:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.449s, found feasible grasp: False
+[05/10 15:36:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 15:36:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:36:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:36:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:36:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:36:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:36:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:36:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
+[05/10 15:36:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:36:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:36:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052134m
+[05/10 15:36:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:36:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:36:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:36:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:36:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.1818259  1.0361999  0.0521337] yaw=-144.5deg
+[05/10 15:36:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:36:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85201351  1.06645679  0.0521337 ] yaw=-151.8deg
+[05/10 15:36:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:36:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91966063  1.03372064  0.0521337 ] yaw=-153.6deg
+[05/10 15:36:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:36:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:36:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.1ms, total=70.1ms
+[05/10 15:36:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.036, 0.052)
+[05/10 15:36:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.5 deg
+[05/10 15:36:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m
+[05/10 15:36:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:36:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:36:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:36:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:36:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:36:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 15:36:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
+[05/10 15:36:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:36:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:36:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 15:36:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.470s, found feasible grasp: True
+[05/10 15:36:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.374[m] 94.130[deg]
+[05/10 15:36:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:36:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:36:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:37:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:37:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:38:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:38:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:38:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:38:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:38:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:38:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:38:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:38:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 76 non-colliding grasps
+[05/10 15:38:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.486s, found feasible grasp: True
+[05/10 15:38:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.296[deg]
+[05/10 15:38:54 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:38:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:38:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:38:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:38:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:38:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:38:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:38:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:38:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:38:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:38:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:38:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
+[05/10 15:38:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:38:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:38:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083699m
+[05/10 15:38:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:38:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:38:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:38:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:38:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04145537  0.89174715  0.08369885] yaw=-158.8deg
+[05/10 15:38:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:38:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:38:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:38:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77342831  1.02579971  0.08369885] yaw=-156.7deg
+[05/10 15:38:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:38:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:38:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=339.7ms, total=339.7ms
+[05/10 15:38:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.041, 0.892, 0.084)
+[05/10 15:38:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.8 deg
+[05/10 15:38:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.778m
+[05/10 15:38:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:38:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:38:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:38:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:38:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:38:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 15:38:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.065s
+[05/10 15:38:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:38:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:38:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 15:38:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True
+[05/10 15:38:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.372[m] 88.136[deg]
+[05/10 15:38:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:38:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:38:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:39:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:39:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:41:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 15:41:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:41:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_002 batch 4/4: 1 episodes
+[05/10 15:41:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 295 timesteps
+[05/10 15:41:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 15:41:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_002
+[05/10 15:41:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_002 in 14.70s (batch: 3.61s, save: 11.09s)
+[05/10 15:41:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
+  episode_total: mean=109.60s, total=328.81s, count=3, min=1961.9ms, max=181989.6ms
+  sensor_polling: mean=460.2ms, total=254.51s, count=553, min=387.7ms, max=1021.3ms
+  physics_step: mean=20.6ms, total=11.40s, count=553, min=13.2ms, max=105.2ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11089.6ms, max=11089.6ms
+  save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3609.9ms, max=3609.9ms
+  task_sampling: mean=430.1ms, total=1.29s, count=3, min=294.0ms, max=607.6ms
+  task_specific_sample: mean=427.0ms, total=1.28s, count=3, min=291.3ms, max=604.3ms
+  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=378.0us, total=1.1ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 15:42:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:42:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:42:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:42:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:42:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:42:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:42:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:42:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:42:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:42:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:42:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.050m, effective arm-mount z=0.910m (base_body_z=0.050m, pedestal_h=0.860m)
+[05/10 15:42:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:42:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:42:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050444m
+[05/10 15:42:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:42:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:42:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:42:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:42:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:42:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96107672  1.13540942  0.05044436] yaw=-130.4deg
+[05/10 15:42:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:42:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:42:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:42:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:42:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.5ms
+[05/10 15:42:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.961, 1.135, 0.050)
+[05/10 15:42:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg
+[05/10 15:42:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.988m
+[05/10 15:42:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:42:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:42:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:42:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:42:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:42:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 15:42:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 15:42:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:42:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:42:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 15:42:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.558s, found feasible grasp: True
+[05/10 15:42:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.586[m] 86.837[deg]
+[05/10 15:42:03 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:42:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:42:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:42:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:42:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:42:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:42:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:42:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:42:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:42:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:42:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:42:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 15:42:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:42:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:42:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078004m
+[05/10 15:42:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:42:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:42:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:42:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77406938  0.25669873  0.0780039 ] yaw=166.7deg
+[05/10 15:42:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:42:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 103.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:42:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8397963   0.86307881  0.0780039 ] yaw=-160.6deg
+[05/10 15:42:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:42:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93167417  0.55170753  0.0780039 ] yaw=-182.3deg
+[05/10 15:42:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:42:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:42:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.9ms, total=132.9ms
+[05/10 15:42:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.257, 0.078)
+[05/10 15:42:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.7 deg
+[05/10 15:42:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m
+[05/10 15:42:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:42:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:42:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:42:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:42:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:42:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 15:42:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 15:42:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:42:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:42:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 15:42:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True
+[05/10 15:42:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.513[m] 95.607[deg]
+[05/10 15:42:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:42:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:42:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:42:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:43:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:43:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:44:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:44:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:44:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:44:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:44:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:44:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:44:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:44:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:44:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 78 non-colliding grasps
+[05/10 15:44:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.446s, found feasible grasp: True
+[05/10 15:44:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.123[deg]
+[05/10 15:44:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:44:42 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
+[05/10 15:44:42 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_002
+[05/10 15:44:42 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/11 successful episodes
+[05/10 15:44:42 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4781.20s
+  House averages:
+  episode_total: mean=144.40s, total=2599.17s, count=18, min=1961.9ms, max=194067.9ms
+  sensor_polling: mean=448.7ms, total=1947.41s, count=4340, min=368.4ms, max=1021.3ms
+  physics_step: mean=20.2ms, total=87.85s, count=4340, min=12.3ms, max=105.2ms
+  save_trajectories: mean=8.30s, total=83.05s, count=10, min=7053.4ms, max=11089.6ms
+  save_batch_prep: mean=3.82s, total=38.21s, count=10, min=3609.9ms, max=4073.5ms
+  task_sampling: mean=606.7ms, total=10.92s, count=18, min=294.0ms, max=3329.4ms
+  task_specific_sample: mean=448.3ms, total=8.07s, count=18, min=291.3ms, max=675.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
+  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
+  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
+  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
+  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  scene_randomize: mean=1.9ms, total=34.7ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  mj_forward_sync: mean=412.9us, total=7.4ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:44:42 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 15:44:42 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4781.20s
+  Worker averages:
+  episode_total: mean=144.40s, total=2599.17s, count=18, min=1961.9ms, max=194067.9ms
+  sensor_polling: mean=448.7ms, total=1947.41s, count=4340, min=368.4ms, max=1021.3ms
+  physics_step: mean=20.2ms, total=87.85s, count=4340, min=12.3ms, max=105.2ms
+  save_trajectories: mean=8.30s, total=83.05s, count=10, min=7053.4ms, max=11089.6ms
+  save_batch_prep: mean=3.82s, total=38.21s, count=10, min=3609.9ms, max=4073.5ms
+  task_sampling: mean=606.7ms, total=10.92s, count=18, min=294.0ms, max=3329.4ms
+  task_specific_sample: mean=448.3ms, total=8.07s, count=18, min=291.3ms, max=675.9ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2792.4ms, max=2792.4ms
+  scene_env_create: mean=1.87s, total=1.87s, count=1, min=1872.6ms, max=1872.6ms
+  scene_compile: mean=824.3ms, total=824.3ms, count=1, min=824.3ms, max=824.3ms
+  compile_mujoco: mean=647.0ms, total=647.0ms, count=1, min=647.0ms, max=647.0ms
+  compile_xml_load: mean=122.4ms, total=122.4ms, count=1, min=122.4ms, max=122.4ms
+  scene_init: mean=58.9ms, total=58.9ms, count=1, min=58.9ms, max=58.9ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_asset_install: mean=36.5ms, total=36.5ms, count=1, min=36.5ms, max=36.5ms
+  scene_randomize: mean=1.9ms, total=34.7ms, count=18, min=1.1ms, max=3.2ms
+  asset_install_grasps: mean=26.7ms, total=26.7ms, count=1, min=26.7ms, max=26.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  mj_forward_sync: mean=412.9us, total=7.4ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.4ms, total=4.4ms, count=1, min=4.4ms, max=4.4ms
+  asset_install_scene: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 15:44:45 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 15:44:45 INFO pipeline.py:1491] Success count: 10, Total count: 11
+[05/10 15:44:45 INFO pipeline.py:1492] Success rate: 90.91%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_002
+==========================================
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+05/10 15:53:50 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 15:53:50 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 15:53:50 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 15:53:50 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7eaa413d5f10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20303,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 15:53:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 15:53:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 15:53:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 15:53:50 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 15:53:50 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 15:53:50 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 15:53:50 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f41cee54850>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20304,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 15:53:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 15:53:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 15:53:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 15:53:51 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 15:53:51 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 15:53:51 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 15:53:51 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 15:53:51 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 15:53:51 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7a3e72a3c150>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20302,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 15:53:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 15:53:51 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 15:53:51 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 15:53:51 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 15:53:51 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 15:53:51 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 15:53:51 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 15:53:51 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x77b126b02810>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20301,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 15:53:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 15:53:51 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 15:53:51 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 15:53:51 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 15:53:54 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 15:53:54 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 15:53:54 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 15:53:54 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 15:53:54 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 15:53:54 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 15:53:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:53:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:53:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:53:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:53:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:53:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011011m	[env.py: 870]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:53:54 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:53:54 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 15:53:54 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 15:53:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:53:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:53:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:53:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79500019  0.82385382  0.01101109] yaw=-170.5deg	[env.py: 1019]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:53:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:53:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:53:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013950m	[env.py: 870]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:53:54 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 15:53:54 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 15:53:54 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0366573   0.87764913  0.01101109] yaw=-142.6deg	[env.py: 1019]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92499152  0.51050965  0.01395037] yaw=-183.4deg	[env.py: 1019]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:53:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=28.9ms, retries=298.4ms, total=327.3ms	[env.py: 1075]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.824, 0.011)	[env.py: 1079]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg	[env.py: 1082]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:53:55 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 15:53:55 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 15:53:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 15:53:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 15:53:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:53:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:53:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:53:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:53:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057388m	[env.py: 870]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:53:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95806708  0.35654412  0.01395037] yaw=175.6deg	[env.py: 1019]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02141212  0.90919666  0.01395037] yaw=-152.2deg	[env.py: 1019]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=54.6ms, retries=334.4ms, total=389.0ms	[env.py: 1075]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.511, 0.014)	[env.py: 1079]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.4 deg	[env.py: 1082]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74110588  0.87079015  0.0573882 ] yaw=-168.1deg	[env.py: 1019]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 15:53:55 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 15:53:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:53:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:53:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75827121  1.04572345  0.0573882 ] yaw=-146.2deg	[env.py: 1019]
+05/10 15:53:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:53:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073915m	[env.py: 870]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:53:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:53:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=36.8ms, retries=354.6ms, total=391.4ms	[env.py: 1075]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.871, 0.057)	[env.py: 1079]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.1 deg	[env.py: 1082]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:53:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:53:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78839704  0.16034585  0.07391536] yaw=169.5deg	[env.py: 1019]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:53:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:53:55 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89913076  0.09778134  0.07391536] yaw=159.0deg	[env.py: 1019]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:53:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.1ms, retries=422.8ms, total=443.9ms	[env.py: 1075]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.788, 0.160, 0.074)	[env.py: 1079]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg	[env.py: 1082]
+05/10 15:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:53:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:53:56 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 25.528s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:54:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:54:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 25.914s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:54:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:54:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:54:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 26.552s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:54:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:54:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:54:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:54:22 INFO: [Worker 0] Warmed up parallel IK solver in 26.181s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:54:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:54:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:54:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:54:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:54:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.385[m] 101.940[deg]	[grasp_sample.py: 539]
+05/10 15:54:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:54:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:54:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.512[m] 86.236[deg]	[grasp_sample.py: 539]
+05/10 15:54:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:54:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:54:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:54:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:54:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.594[m] 97.665[deg]	[grasp_sample.py: 539]
+05/10 15:54:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:54:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:54:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:54:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:54:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:54:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.284s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:54:25 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.669[m] 89.926[deg]	[grasp_sample.py: 539]
+05/10 15:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:54:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:54:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:54:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:55:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:55:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:55:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:55:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:55:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:55:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:55:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:55:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:55:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:55:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:55:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:56:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 15:56:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:56:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:56:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:56:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:56:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.395s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:56:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.581[deg]	[grasp_sample.py: 539]
+05/10 15:56:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:56:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:56:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:56:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:56:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:56:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:56:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:56:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:56:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:56:46 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:56:51 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 15:56:51 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=5.12s:
+  episode_total: mean=180.64s, total=180.64s, count=1, min=180638.3ms, max=180638.3ms
+  sensor_polling: mean=451.9ms, total=135.57s, count=300, min=394.0ms, max=741.7ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.3ms, max=44.4ms
+  task_sampling: mean=5.12s, total=5.12s, count=1, min=5124.4ms, max=5124.4ms
+  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
+  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
+  task_specific_sample: mean=660.6ms, total=660.6ms, count=1, min=660.6ms, max=660.6ms
+  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
+  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
+  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
+  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
+  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
+  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=39.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:56:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:56:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:56:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:56:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:56:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:56:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:56:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:56:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:56:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:56:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:56:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:56:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023147m	[env.py: 870]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:56:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:56:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:56:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.528[deg]	[grasp_sample.py: 539]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6861366   0.61371963  0.02314673] yaw=-165.3deg	[env.py: 1019]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:56:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=561.8ms, total=561.8ms	[env.py: 1075]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.614, 0.023)	[env.py: 1079]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg	[env.py: 1082]
+05/10 15:56:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:56:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:56:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:56:53 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:56:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:56:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:56:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:56:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:56:54 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 15:56:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:56:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.608[m] 89.711[deg]	[grasp_sample.py: 539]
+05/10 15:56:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:56:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:56:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:56:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:56:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:56:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:56:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:56:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:56:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:56:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047529m	[env.py: 870]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:56:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0103787   0.14147697  0.04752874] yaw=147.0deg	[env.py: 1019]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67005513  0.68408673  0.04752874] yaw=-173.2deg	[env.py: 1019]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63464432  0.4488523   0.04752874] yaw=186.7deg	[env.py: 1019]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:56:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.4ms, total=163.4ms	[env.py: 1075]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 0.141, 0.048)	[env.py: 1079]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.0 deg	[env.py: 1082]
+05/10 15:56:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
+05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:56:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:56:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:56:57 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:56:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:56:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:56:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:56:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:56:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.964s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:56:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.317[m] 89.231[deg]	[grasp_sample.py: 539]
+05/10 15:56:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:56:58 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:56:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:56:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:57:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 15:57:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 15:57:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:57:19 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 15:57:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 15:57:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:57:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:57:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 15:57:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.44s (batch: 3.99s, save: 9.44s)	[pipeline.py: 300]
+05/10 15:57:26 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.59s:
+  episode_total: mean=215.31s, total=215.31s, count=1, min=215305.2ms, max=215305.2ms
+  sensor_polling: mean=448.8ms, total=134.65s, count=300, min=394.8ms, max=690.5ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9443.6ms, max=9443.6ms
+  physics_step: mean=20.7ms, total=6.21s, count=300, min=13.7ms, max=47.7ms
+  task_sampling: mean=4.59s, total=4.59s, count=1, min=4591.1ms, max=4591.1ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.2ms, max=3992.2ms
+  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
+  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
+  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
+  task_specific_sample: mean=800.3ms, total=800.3ms, count=1, min=800.3ms, max=800.3ms
+  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
+  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
+  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
+  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=506.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=48.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:57:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:57:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:57:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:57:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:57:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:57:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:57:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:57:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082460m	[env.py: 870]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:57:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89686507  0.82581384  0.08246013] yaw=-149.4deg	[env.py: 1019]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85648088  0.09945285  0.08246013] yaw=150.5deg	[env.py: 1019]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92949959  0.44741671  0.08246013] yaw=172.4deg	[env.py: 1019]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:57:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.4ms, total=127.5ms	[env.py: 1075]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.826, 0.082)	[env.py: 1079]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg	[env.py: 1082]
+05/10 15:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:57:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:57:28 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:57:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:57:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:57:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:57:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.015s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:57:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.440[m] 86.737[deg]	[grasp_sample.py: 539]
+05/10 15:57:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:57:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:57:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:57:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:57:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 15:57:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.84s (batch: 4.67s, save: 9.17s)	[pipeline.py: 300]
+05/10 15:57:34 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.16s:
+  episode_total: mean=222.93s, total=222.93s, count=1, min=222930.0ms, max=222930.0ms
+  sensor_polling: mean=468.0ms, total=140.41s, count=300, min=402.5ms, max=740.9ms
+  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9168.3ms, max=9168.3ms
+  physics_step: mean=23.8ms, total=7.15s, count=300, min=16.6ms, max=58.4ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.4ms, max=4670.4ms
+  task_sampling: mean=4.16s, total=4.16s, count=1, min=4161.1ms, max=4161.1ms
+  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
+  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
+  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
+  task_specific_sample: mean=680.1ms, total=680.1ms, count=1, min=680.1ms, max=680.1ms
+  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
+  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
+  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
+  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=578.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=47.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:57:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:57:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:57:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:57:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:57:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:57:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:57:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069147m	[env.py: 870]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:57:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16174814  1.06115741  0.06914729] yaw=-144.3deg	[env.py: 1019]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81210341  0.76659614  0.06914729] yaw=-170.4deg	[env.py: 1019]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03028865  1.11454351  0.06914729] yaw=-145.0deg	[env.py: 1019]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:57:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms	[env.py: 1075]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.162, 1.061, 0.069)	[env.py: 1079]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg	[env.py: 1082]
+05/10 15:57:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:57:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:57:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:57:36 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:57:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:57:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:57:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:57:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:57:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:57:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.406[m] 87.452[deg]	[grasp_sample.py: 539]
+05/10 15:57:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:57:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:57:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:57:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:57:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:57:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:58:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:58:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:58:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:58:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:58:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:58:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:58:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:58:39 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:58:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.843[deg]	[grasp_sample.py: 539]
+05/10 15:58:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:58:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:58:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:58:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:58:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:58:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:58:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:58:42 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.433s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:58:42 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.847[deg]	[grasp_sample.py: 539]
+05/10 15:58:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:58:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:58:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:58:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:58:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:58:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:58:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:58:44 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:58:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.852[deg]	[grasp_sample.py: 539]
+05/10 15:58:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:58:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:58:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:59:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 15:59:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:59:19 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 15:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:59:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 15:59:39 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 15:59:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=4.82s:
+  episode_total: mean=173.04s, total=346.07s, count=2, min=162915.0ms, max=183158.0ms
+  sensor_polling: mean=459.9ms, total=231.79s, count=504, min=387.6ms, max=767.3ms
+  physics_step: mean=21.7ms, total=10.95s, count=504, min=12.1ms, max=52.3ms
+  task_sampling: mean=2.41s, total=4.82s, count=2, min=408.5ms, max=4414.0ms
+  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
+  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
+  task_specific_sample: mean=561.6ms, total=1.12s, count=2, min=405.7ms, max=717.4ms
+  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
+  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
+  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.3ms, max=1.4ms
+  mj_forward_sync: mean=471.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=39.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:59:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 15:59:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 15:59:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:59:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 15:59:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 15:59:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 15:59:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086876m	[env.py: 870]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 15:59:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63535749  0.48968607  0.08687604] yaw=-188.4deg	[env.py: 1019]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95212852  0.84260933  0.08687604] yaw=-160.5deg	[env.py: 1019]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96779893  1.26754875  0.08687604] yaw=-130.9deg	[env.py: 1019]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 15:59:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms	[env.py: 1075]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.635, 0.490, 0.087)	[env.py: 1079]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.4 deg	[env.py: 1082]
+05/10 15:59:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 15:59:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 15:59:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 15:59:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 15:59:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/10 15:59:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:59:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:59:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:59:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.854s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:59:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 94.196[deg]	[grasp_sample.py: 539]
+05/10 15:59:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 15:59:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 15:59:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 15:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:45 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 15:59:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 15:59:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 15:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 15:59:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 15:59:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 15:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 15:59:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 15:59:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 15:59:57 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 15:59:57 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.315[deg]	[grasp_sample.py: 539]
+05/10 15:59:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 15:59:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 15:59:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.76s (batch: 3.62s, save: 9.15s)	[pipeline.py: 300]
+05/10 15:59:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.79s:
+  episode_total: mean=185.84s, total=185.84s, count=1, min=185843.1ms, max=185843.1ms
+  sensor_polling: mean=450.0ms, total=135.01s, count=300, min=384.1ms, max=919.0ms
+  save_trajectories: mean=9.15s, total=9.15s, count=1, min=9147.1ms, max=9147.1ms
+  physics_step: mean=20.1ms, total=6.04s, count=300, min=16.5ms, max=37.9ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3617.7ms, max=3617.7ms
+  task_sampling: mean=785.7ms, total=785.7ms, count=1, min=785.7ms, max=785.7ms
+  task_specific_sample: mean=782.7ms, total=782.7ms, count=1, min=782.7ms, max=782.7ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=498.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 15:59:59 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:00:00 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:00:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:00:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:00:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:00:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:00:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:00:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:00:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055814m	[env.py: 870]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:00:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6873822   0.18014073  0.05581404] yaw=160.7deg	[env.py: 1019]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70582676  0.27590113  0.05581404] yaw=172.3deg	[env.py: 1019]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95792942  0.17093901  0.05581404] yaw=162.4deg	[env.py: 1019]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:00:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.5ms	[env.py: 1075]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.180, 0.056)	[env.py: 1079]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg	[env.py: 1082]
+05/10 16:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:00:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:00:01 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:00:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:00:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:00:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:00:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:00:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:00:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:00:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:00:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:00:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:00:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:00:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085386m	[env.py: 870]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:00:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05589427  1.10472167  0.08538633] yaw=-131.9deg	[env.py: 1019]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71613277  0.79122796  0.08538633] yaw=-151.8deg	[env.py: 1019]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01377947  0.97806664  0.08538633] yaw=-153.2deg	[env.py: 1019]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:00:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.2ms, total=248.2ms	[env.py: 1075]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.056, 1.105, 0.085)	[env.py: 1079]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
+05/10 16:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:00:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:00:02 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:00:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:00:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:00:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:00:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:00:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.172s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:00:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.606[m] 88.288[deg]	[grasp_sample.py: 539]
+05/10 16:00:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:00:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:00:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:00:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:00:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.460[m] 93.096[deg]	[grasp_sample.py: 539]
+05/10 16:00:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:00:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:00:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:00:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:00:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:00:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:00:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:00:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:00:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.51s (batch: 4.10s, save: 10.41s)	[pipeline.py: 300]
+05/10 16:00:37 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.36s:
+  episode_total: mean=189.78s, total=189.78s, count=1, min=189778.1ms, max=189778.1ms
+  sensor_polling: mean=467.8ms, total=140.33s, count=300, min=399.7ms, max=804.2ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10405.8ms, max=10405.8ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=17.0ms, max=69.7ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4102.6ms, max=4102.6ms
+  task_sampling: mean=362.2ms, total=362.2ms, count=1, min=362.2ms, max=362.2ms
+  task_specific_sample: mean=357.8ms, total=357.8ms, count=1, min=357.8ms, max=357.8ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=498.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:00:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:00:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:00:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:00:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:00:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:00:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014705m	[env.py: 870]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:00:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.4ms, total=143.5ms	[env.py: 1105]
+05/10 16:00:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 16:00:39 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 16:00:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:00:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:00:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:00:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:00:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:00:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:00:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049298m	[env.py: 870]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:00:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92679836  0.60491503  0.04929792] yaw=-176.5deg	[env.py: 1019]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85195048  0.08974893  0.04929792] yaw=150.2deg	[env.py: 1019]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82921549  0.86571128  0.04929792] yaw=-151.0deg	[env.py: 1019]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:00:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.1ms, total=84.1ms	[env.py: 1075]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.605, 0.049)	[env.py: 1079]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.5 deg	[env.py: 1082]
+05/10 16:00:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
+05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:00:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:00:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:00:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:00:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:00:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:00:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:00:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:00:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:00:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.320[m] 83.067[deg]	[grasp_sample.py: 539]
+05/10 16:00:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:00:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:00:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:00:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:00:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:00:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:00:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:00:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:01:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:01:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:01:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:01:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:01:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:01:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:01:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:01:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:01:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:02:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:02:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:02:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:02:09 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:02:09 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.897[deg]	[grasp_sample.py: 539]
+05/10 16:02:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:02:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:02:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:02:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:02:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:02:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:02:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:02:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:02:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:02:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:02:25 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:02:25 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.218[deg]	[grasp_sample.py: 539]
+05/10 16:02:26 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:02:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:02:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:02:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:02:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:02:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:02:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:02:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:02:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:02:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:02:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:02:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030293m	[env.py: 870]
+05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:02:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:02:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86286907  0.30276229  0.0302931 ] yaw=176.6deg	[env.py: 1019]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08329868  1.06910987  0.0302931 ] yaw=-137.0deg	[env.py: 1019]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87923756  0.13175047  0.0302931 ] yaw=168.2deg	[env.py: 1019]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:02:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.4ms, total=298.4ms	[env.py: 1075]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.303, 0.030)	[env.py: 1079]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg	[env.py: 1082]
+05/10 16:02:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/10 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:02:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:02:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:02:29 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:02:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:02:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:02:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:02:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:02:30 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:02:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:02:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:02:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.094s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:02:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.408[m] 83.468[deg]	[grasp_sample.py: 539]
+05/10 16:02:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:02:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:02:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:02:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:02:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.76s (batch: 5.03s, save: 8.74s)	[pipeline.py: 300]
+05/10 16:02:44 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
+  episode_total: mean=183.39s, total=183.39s, count=1, min=183392.8ms, max=183392.8ms
+  sensor_polling: mean=447.9ms, total=134.36s, count=300, min=381.0ms, max=851.3ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.2ms, max=8735.2ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.5ms, max=46.7ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5027.5ms, max=5027.5ms
+  task_sampling: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
+  task_specific_sample: mean=431.3ms, total=431.3ms, count=1, min=431.3ms, max=431.3ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=530.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:02:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:02:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:02:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:02:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:02:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:02:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:02:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:02:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:02:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:02:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:02:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:02:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:02:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023268m	[env.py: 870]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:02:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17093583  1.12033653  0.02326751] yaw=-125.2deg	[env.py: 1019]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87603599  0.51231362  0.02326751] yaw=-186.5deg	[env.py: 1019]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93977958  0.28282892  0.02326751] yaw=158.1deg	[env.py: 1019]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:02:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=114.1ms, total=114.1ms	[env.py: 1075]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.171, 1.120, 0.023)	[env.py: 1079]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg	[env.py: 1082]
+05/10 16:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:02:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:02:46 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:02:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:02:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:02:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:02:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:02:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:02:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.457[m] 98.062[deg]	[grasp_sample.py: 539]
+05/10 16:02:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:02:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:02:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:02:50 INFO: [Worker 0] Feasibility-checked 68 grasps in 4.625s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:02:50 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.220[m] 2.768[deg]	[grasp_sample.py: 539]
+05/10 16:02:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:02:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:02:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:03:00 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 16:03:00 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.35s:
+  episode_total: mean=179.42s, total=179.42s, count=1, min=179416.7ms, max=179416.7ms
+  sensor_polling: mean=459.6ms, total=137.88s, count=300, min=393.5ms, max=758.4ms
+  physics_step: mean=21.2ms, total=6.35s, count=300, min=12.4ms, max=63.5ms
+  task_sampling: mean=345.2ms, total=345.2ms, count=1, min=345.2ms, max=345.2ms
+  task_specific_sample: mean=341.2ms, total=341.2ms, count=1, min=341.2ms, max=341.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=482.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:03:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:03:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:03:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:03:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:03:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:03:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:03:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041717m	[env.py: 870]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:03:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75215391  0.02484319  0.04171685] yaw=152.6deg	[env.py: 1019]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66629315  0.84781047  0.04171685] yaw=-149.6deg	[env.py: 1019]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90912988  0.7641917   0.04171685] yaw=-154.0deg	[env.py: 1019]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:03:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=395.0ms, total=395.1ms	[env.py: 1075]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.025, 0.042)	[env.py: 1079]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg	[env.py: 1082]
+05/10 16:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:03:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:03:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:03:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:03:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:03:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:03:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:03:07 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:03:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 8.221s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:03:11 INFO: [Worker 0] Feasible grasp found 102 (originally 102): w/ 0.643[m] 93.390[deg]	[grasp_sample.py: 539]
+05/10 16:03:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:03:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:03:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:03:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:03:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:03:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:03:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:03:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:03:30 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/10 16:03:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:03:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:03:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:03:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.93s (batch: 4.74s, save: 10.19s)	[pipeline.py: 300]
+05/10 16:03:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s:
+  episode_total: mean=92.72s, total=185.44s, count=2, min=153.9ms, max=185283.0ms
+  sensor_polling: mean=466.8ms, total=132.58s, count=284, min=397.1ms, max=774.4ms
+  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10190.1ms, max=10190.1ms
+  physics_step: mean=22.7ms, total=6.43s, count=284, min=17.2ms, max=85.6ms
+  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4742.6ms, max=4742.6ms
+  task_specific_sample: mean=242.5ms, total=485.0ms, count=2, min=148.7ms, max=336.4ms
+  task_sampling: mean=339.0ms, total=339.0ms, count=1, min=339.0ms, max=339.0ms
+  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=407.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:03:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:03:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:03:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:03:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:03:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051112m	[env.py: 870]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91436013  0.85256996  0.0511119 ] yaw=-158.1deg	[env.py: 1019]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87781191  1.18163297  0.0511119 ] yaw=-131.7deg	[env.py: 1019]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85473775  0.66720945  0.0511119 ] yaw=-176.1deg	[env.py: 1019]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:03:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.1ms, total=175.1ms	[env.py: 1075]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.853, 0.051)	[env.py: 1079]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
+05/10 16:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:03:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:03:48 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:03:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:03:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:03:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:03:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:03:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:03:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.317[deg]	[grasp_sample.py: 539]
+05/10 16:03:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:03:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:03:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:03:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:04:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:04:21 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 16:04:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:04:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:04:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:04:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:04:22 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:04:22 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.215[deg]	[grasp_sample.py: 539]
+05/10 16:04:23 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:04:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:04:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:04:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:04:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:04:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:04:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:04:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016339m	[env.py: 870]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:04:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96402366  0.71105387  0.016339  ] yaw=-173.3deg	[env.py: 1019]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78562662  1.01733798  0.016339  ] yaw=-151.6deg	[env.py: 1019]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61691606  0.45008605  0.016339  ] yaw=188.7deg	[env.py: 1019]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:04:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms	[env.py: 1075]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.711, 0.016)	[env.py: 1079]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg	[env.py: 1082]
+05/10 16:04:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
+05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:04:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:04:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:04:26 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:04:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:04:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:04:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:04:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:04:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:04:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.361[m] 84.673[deg]	[grasp_sample.py: 539]
+05/10 16:04:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:04:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:04:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:04:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:04:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:04:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:04:36 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 16:04:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:04:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:04:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:04:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:04:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:04:39 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.101[m] 0.696[deg]	[grasp_sample.py: 539]
+05/10 16:04:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:04:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:04:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:04:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:04:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:04:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:05:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:05:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:05:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:05:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:05:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:05:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:05:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:05:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:05:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:05:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:05:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.103[m] 1.690[deg]	[grasp_sample.py: 539]
+05/10 16:05:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:05:21 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:05:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:05:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:05:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:05:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:05:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:05:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:05:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:05:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053166m	[env.py: 870]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:05:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82456827  0.32426179  0.05316647] yaw=170.0deg	[env.py: 1019]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:05:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95649813  1.25746543  0.05316647] yaw=-132.9deg	[env.py: 1019]
+05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87786105  0.39668181  0.05316647] yaw=184.9deg	[env.py: 1019]
+05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:05:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=196.0ms, total=196.1ms	[env.py: 1075]
+05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.324, 0.053)	[env.py: 1079]
+05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
+05/10 16:05:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/10 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:05:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:05:23 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:05:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:05:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:05:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:05:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:05:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:05:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.432[m] 88.458[deg]	[grasp_sample.py: 539]
+05/10 16:05:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:05:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:05:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:05:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 16:05:59 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=0.66s:
+  episode_total: mean=177.59s, total=177.59s, count=1, min=177588.0ms, max=177588.0ms
+  sensor_polling: mean=514.5ms, total=154.36s, count=300, min=420.2ms, max=1010.1ms
+  physics_step: mean=25.4ms, total=7.62s, count=300, min=17.2ms, max=114.5ms
+  task_sampling: mean=664.3ms, total=664.3ms, count=1, min=664.3ms, max=664.3ms
+  task_specific_sample: mean=660.7ms, total=660.7ms, count=1, min=660.7ms, max=660.7ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=532.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:06:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:06:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:06:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:06:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:06:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:06:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:06:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:06:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:06:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:06:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071049m	[env.py: 870]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:06:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64479938  0.6990011   0.07104915] yaw=-179.9deg	[env.py: 1019]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6918244   0.72108893  0.07104915] yaw=-177.1deg	[env.py: 1019]
+05/10 16:06:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91956634  0.12345181  0.07104915] yaw=154.2deg	[env.py: 1019]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:06:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.2ms	[env.py: 1075]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.699, 0.071)	[env.py: 1079]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.9 deg	[env.py: 1082]
+05/10 16:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/10 16:06:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:06:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:06:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:06:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:06:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:06:02 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:06:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:06:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:06:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:06:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:06:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.777s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:06:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.653[m] 94.027[deg]	[grasp_sample.py: 539]
+05/10 16:06:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:06:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:06:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:06:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:06:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:06:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:06:40 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:07:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:07:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:07:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:07:11 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:07:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:07:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:07:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:07:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.80s (batch: 4.34s, save: 9.45s)	[pipeline.py: 300]
+05/10 16:07:18 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s:
+  episode_total: mean=211.05s, total=211.05s, count=1, min=211050.7ms, max=211050.7ms
+  sensor_polling: mean=532.7ms, total=159.82s, count=300, min=452.1ms, max=927.0ms
+  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9453.4ms, max=9453.4ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=15.9ms, max=105.2ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.1ms, max=4342.1ms
+  task_sampling: mean=453.1ms, total=453.1ms, count=1, min=453.1ms, max=453.1ms
+  task_specific_sample: mean=449.2ms, total=449.2ms, count=1, min=449.2ms, max=449.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:07:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:07:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:07:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:07:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:07:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:07:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:07:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021284m	[env.py: 870]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:07:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78428527  0.53661773  0.02128433] yaw=-177.2deg	[env.py: 1019]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75751337  0.22356384  0.02128433] yaw=170.0deg	[env.py: 1019]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:07:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.1ms, total=179.1ms	[env.py: 1075]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.537, 0.021)	[env.py: 1079]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg	[env.py: 1082]
+05/10 16:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:07:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:07:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:07:20 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:07:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:07:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:07:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:07:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:07:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:07:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.458[m] 89.637[deg]	[grasp_sample.py: 539]
+05/10 16:07:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:07:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:07:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:07:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:07:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:07:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 16:07:31 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 16:07:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:07:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:07:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:07:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.09s (batch: 3.57s, save: 8.52s)	[pipeline.py: 300]
+05/10 16:07:44 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=2.02s:
+  episode_total: mean=150.62s, total=602.49s, count=4, min=114512.1ms, max=199018.0ms
+  sensor_polling: mean=484.3ms, total=496.88s, count=1026, min=382.2ms, max=1086.5ms
+  physics_step: mean=22.9ms, total=23.47s, count=1026, min=13.5ms, max=77.8ms
+  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8519.3ms, max=8519.3ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3570.4ms, max=3570.4ms
+  task_sampling: mean=505.3ms, total=2.02s, count=4, min=441.6ms, max=550.3ms
+  task_specific_sample: mean=501.8ms, total=2.01s, count=4, min=438.1ms, max=546.0ms
+  scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=423.7us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:07:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:07:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:07:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:07:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:07:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:07:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:07:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008012m	[env.py: 870]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:07:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04043767  1.15785182  0.00801228] yaw=-127.4deg	[env.py: 1019]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82226372  0.74286289  0.00801228] yaw=-162.3deg	[env.py: 1019]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86058081  0.7330473   0.00801228] yaw=-152.2deg	[env.py: 1019]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:07:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.5ms	[env.py: 1075]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.040, 1.158, 0.008)	[env.py: 1079]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg	[env.py: 1082]
+05/10 16:07:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:07:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:07:46 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:07:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:07:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:07:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:07:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:07:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.791s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:07:49 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.553[m] 85.963[deg]	[grasp_sample.py: 539]
+05/10 16:07:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:07:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:07:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:08:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:08:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:08:23 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:08:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:08:51 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:08:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:08:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:08:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:08:53 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:09:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:09:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:09:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:09:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:09:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 17.73s (batch: 5.40s, save: 12.33s)	[pipeline.py: 300]
+05/10 16:09:09 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.85s:
+  episode_total: mean=190.74s, total=381.49s, count=2, min=154903.3ms, max=226584.4ms
+  sensor_polling: mean=506.6ms, total=281.66s, count=556, min=397.9ms, max=946.8ms
+  physics_step: mean=25.5ms, total=14.16s, count=556, min=14.0ms, max=74.8ms
+  save_trajectories: mean=12.33s, total=12.33s, count=1, min=12326.7ms, max=12326.7ms
+  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5399.2ms, max=5399.2ms
+  task_sampling: mean=425.7ms, total=851.5ms, count=2, min=362.6ms, max=488.9ms
+  task_specific_sample: mean=421.6ms, total=843.2ms, count=2, min=358.0ms, max=485.2ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.7ms, max=3.1ms
+  mj_forward_sync: mean=580.7us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:09:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:09:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:09:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:09:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:09:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:09:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:09:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020984m	[env.py: 870]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:09:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64850925  0.20567394  0.02098371] yaw=175.3deg	[env.py: 1019]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77885999  0.79695431  0.02098371] yaw=-171.4deg	[env.py: 1019]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90969762  0.76294588  0.02098371] yaw=-158.0deg	[env.py: 1019]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:09:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.5ms	[env.py: 1075]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.206, 0.021)	[env.py: 1079]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg	[env.py: 1082]
+05/10 16:09:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:09:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:09:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:09:11 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:09:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:09:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:09:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:09:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:09:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.173s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:09:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.630[m] 81.530[deg]	[grasp_sample.py: 539]
+05/10 16:09:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:09:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:09:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:09:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:09:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:09:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:09:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:09:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:09:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.28s (batch: 4.64s, save: 11.64s)	[pipeline.py: 300]
+05/10 16:09:39 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=217.46s, total=217.46s, count=1, min=217461.8ms, max=217461.8ms
+  sensor_polling: mean=521.0ms, total=156.30s, count=300, min=439.9ms, max=1121.7ms
+  save_trajectories: mean=11.64s, total=11.64s, count=1, min=11641.7ms, max=11641.7ms
+  physics_step: mean=26.2ms, total=7.87s, count=300, min=16.4ms, max=82.0ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.3ms, max=4635.3ms
+  task_sampling: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
+  task_specific_sample: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:09:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:09:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:09:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:09:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:09:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:09:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:09:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040811m	[env.py: 870]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:09:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98531105  0.75226466  0.04081066] yaw=-154.2deg	[env.py: 1019]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11672179  1.13617272  0.04081066] yaw=-138.8deg	[env.py: 1019]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.16276934  1.14365327  0.04081066] yaw=-127.6deg	[env.py: 1019]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:09:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=242.9ms, total=242.9ms	[env.py: 1075]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.752, 0.041)	[env.py: 1079]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/10 16:09:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:09:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:09:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:09:41 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:09:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:09:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:09:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:09:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:09:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:09:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.300[m] 81.061[deg]	[grasp_sample.py: 539]
+05/10 16:09:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:09:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:09:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:10:12 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:10:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:10:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:10:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:10:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:10:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:10:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:10:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:10:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:10:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:10:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:10:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:10:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:10:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:10:34 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:10:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:10:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:10:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.516s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:10:35 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.110[m] 0.845[deg]	[grasp_sample.py: 539]
+05/10 16:10:36 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:10:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:10:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:10:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:10:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:10:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:10:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:10:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:10:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024879m	[env.py: 870]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:10:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77662835  0.03348251  0.02487855] yaw=160.1deg	[env.py: 1019]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7262239   0.32107356  0.02487855] yaw=180.6deg	[env.py: 1019]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91694472  1.04422765  0.02487855] yaw=-137.8deg	[env.py: 1019]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:10:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.0ms, total=135.0ms	[env.py: 1075]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.033, 0.025)	[env.py: 1079]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg	[env.py: 1082]
+05/10 16:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:10:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:10:38 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:10:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:10:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:10:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:10:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:10:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.984s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:10:45 INFO: [Worker 0] Feasible grasp found 14 (originally 14): w/ 0.557[m] 78.082[deg]	[grasp_sample.py: 539]
+05/10 16:10:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:10:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:10:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:10:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:10:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:10:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.66s (batch: 4.56s, save: 9.10s)	[pipeline.py: 300]
+05/10 16:10:48 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s:
+  episode_total: mean=208.11s, total=208.11s, count=1, min=208112.0ms, max=208112.0ms
+  sensor_polling: mean=525.9ms, total=157.77s, count=300, min=444.5ms, max=860.4ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9098.5ms, max=9098.5ms
+  physics_step: mean=27.4ms, total=8.21s, count=300, min=15.7ms, max=100.1ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4557.6ms, max=4557.6ms
+  task_sampling: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
+  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=457.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:10:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:10:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:10:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:10:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:10:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:10:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:10:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027659m	[env.py: 870]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:10:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76199908  0.39991185  0.02765918] yaw=174.5deg	[env.py: 1019]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73440049  0.34856376  0.02765918] yaw=164.5deg	[env.py: 1019]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73547019  0.34422849  0.02765918] yaw=161.6deg	[env.py: 1019]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:10:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.4ms, total=133.5ms	[env.py: 1075]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.400, 0.028)	[env.py: 1079]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.5 deg	[env.py: 1082]
+05/10 16:10:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:10:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:10:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:10:50 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:10:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:10:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:10:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:10:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:10:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:10:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.517[m] 96.274[deg]	[grasp_sample.py: 539]
+05/10 16:10:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:10:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:10:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:11:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:11:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:11:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:12:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:12:01 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:12:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:12:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:12:19 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:12:29 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:12:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:12:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:12:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:12:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:12:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.24s (batch: 4.40s, save: 8.83s)	[pipeline.py: 300]
+05/10 16:12:42 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:12:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:12:42 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/10 16:12:43 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s:
+  episode_total: mean=212.07s, total=212.07s, count=1, min=212067.6ms, max=212067.6ms
+  sensor_polling: mean=520.6ms, total=156.17s, count=300, min=447.3ms, max=935.7ms
+  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8831.2ms, max=8831.2ms
+  physics_step: mean=27.3ms, total=8.20s, count=300, min=15.9ms, max=132.3ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4404.0ms, max=4404.0ms
+  task_sampling: mean=450.5ms, total=450.5ms, count=1, min=450.5ms, max=450.5ms
+  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=412.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:12:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:12:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:12:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:12:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083230m	[env.py: 870]
+05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86995707  0.37200679  0.08322995] yaw=175.8deg	[env.py: 1019]
+05/10 16:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02365657  1.33294457  0.08322995] yaw=-134.3deg	[env.py: 1019]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13155728  1.1543769   0.08322995] yaw=-139.8deg	[env.py: 1019]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:12:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.2ms	[env.py: 1075]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.372, 0.083)	[env.py: 1079]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg	[env.py: 1082]
+05/10 16:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/10 16:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:12:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:12:45 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:12:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:12:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:12:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:12:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.369[m] 88.727[deg]	[grasp_sample.py: 539]
+05/10 16:12:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:12:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:12:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:12:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:12:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:12:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.08s (batch: 3.89s, save: 11.19s)	[pipeline.py: 300]
+05/10 16:12:58 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.62s:
+  episode_total: mean=197.15s, total=197.15s, count=1, min=197154.3ms, max=197154.3ms
+  sensor_polling: mean=523.0ms, total=146.43s, count=280, min=444.0ms, max=1104.3ms
+  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11192.8ms, max=11192.8ms
+  physics_step: mean=26.1ms, total=7.31s, count=280, min=16.2ms, max=82.4ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.7ms, max=3886.7ms
+  task_sampling: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
+  task_specific_sample: mean=617.2ms, total=617.2ms, count=1, min=617.2ms, max=617.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=667.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=38.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:13:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:13:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:13:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:13:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:13:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:13:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:13:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084186m	[env.py: 870]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:13:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69242053  0.29765203  0.0841857 ] yaw=170.5deg	[env.py: 1019]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92735471  0.17514077  0.0841857 ] yaw=154.6deg	[env.py: 1019]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97670215  0.14622667  0.0841857 ] yaw=154.8deg	[env.py: 1019]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:13:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.1ms	[env.py: 1075]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.298, 0.084)	[env.py: 1079]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg	[env.py: 1082]
+05/10 16:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:13:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:13:00 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:13:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:13:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:13:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:13:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:13:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:13:01 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.570[m] 90.479[deg]	[grasp_sample.py: 539]
+05/10 16:13:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:13:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:13:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:13:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:13:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:13:39 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:13:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:13:49 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:14:01 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:14:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 16:14:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:14:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:14:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:14:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:14:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:14:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:14:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:14:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:14:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.84s (batch: 4.39s, save: 8.45s)	[pipeline.py: 300]
+05/10 16:14:15 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.84s:
+  episode_total: mean=193.53s, total=387.06s, count=2, min=170400.3ms, max=216658.1ms
+  sensor_polling: mean=534.2ms, total=305.53s, count=572, min=438.8ms, max=1213.2ms
+  physics_step: mean=26.5ms, total=15.18s, count=572, min=16.2ms, max=116.2ms
+  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8445.7ms, max=8445.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.9ms, max=4390.9ms
+  task_sampling: mean=419.7ms, total=839.5ms, count=2, min=403.9ms, max=435.6ms
+  task_specific_sample: mean=416.0ms, total=831.9ms, count=2, min=400.2ms, max=431.7ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.0ms, max=2.6ms
+  mj_forward_sync: mean=440.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:14:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:14:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:14:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:14:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:14:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:14:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:14:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:14:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040415m	[env.py: 870]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:14:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88845622  0.16469359  0.0404149 ] yaw=159.5deg	[env.py: 1019]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.01780578e-01 -5.14398145e-04  4.04149035e-02] yaw=158.0deg	[env.py: 1019]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97351063  0.79620422  0.0404149 ] yaw=-157.6deg	[env.py: 1019]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:14:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.3ms, total=195.4ms	[env.py: 1075]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.165, 0.040)	[env.py: 1079]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.5 deg	[env.py: 1082]
+05/10 16:14:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:14:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:14:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:14:17 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:14:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:14:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:14:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:14:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:14:18 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.422[m] 83.915[deg]	[grasp_sample.py: 539]
+05/10 16:14:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:14:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:14:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:14:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:14:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:14:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.93s (batch: 4.17s, save: 8.76s)	[pipeline.py: 300]
+05/10 16:14:23 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=213.49s, total=213.49s, count=1, min=213490.3ms, max=213490.3ms
+  sensor_polling: mean=548.6ms, total=164.58s, count=300, min=449.1ms, max=955.0ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.5ms, max=8756.5ms
+  physics_step: mean=26.6ms, total=7.97s, count=300, min=19.3ms, max=99.9ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.2ms, max=4169.2ms
+  task_sampling: mean=427.2ms, total=427.2ms, count=1, min=427.2ms, max=427.2ms
+  task_specific_sample: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=453.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:14:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:14:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:14:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:14:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:14:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:14:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:14:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034588m	[env.py: 870]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:14:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90001371  0.45782883  0.03458801] yaw=170.0deg	[env.py: 1019]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98531448  0.81537532  0.03458801] yaw=-146.1deg	[env.py: 1019]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98926225  0.90092376  0.03458801] yaw=-138.9deg	[env.py: 1019]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:14:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.3ms, total=250.3ms	[env.py: 1075]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.458, 0.035)	[env.py: 1079]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
+05/10 16:14:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:14:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:14:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:14:25 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:14:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:14:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:14:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:14:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:14:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:14:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 80.022[deg]	[grasp_sample.py: 539]
+05/10 16:14:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:14:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:14:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:14:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:14:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:14:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:14:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:14:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:14:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.132s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:14:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:14:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.646[deg]	[grasp_sample.py: 539]
+05/10 16:15:00 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:15:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:15:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:15:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:15:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:15:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:15:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:15:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064119m	[env.py: 870]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:15:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93933415  0.25713024  0.06411899] yaw=158.7deg	[env.py: 1019]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67401222  0.48816854  0.06411899] yaw=-168.4deg	[env.py: 1019]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97974758  1.25713964  0.06411899] yaw=-126.5deg	[env.py: 1019]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:15:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.6ms, total=277.7ms	[env.py: 1075]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.257, 0.064)	[env.py: 1079]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg	[env.py: 1082]
+05/10 16:15:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
+05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:15:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:15:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:15:03 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:15:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:15:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:15:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:15:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:15:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:15:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:15:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:15:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 88.824[deg]	[grasp_sample.py: 539]
+05/10 16:15:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:15:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:15:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:15:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:15:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:15:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:15:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:15:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:15:49 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:15:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:15:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:16:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:16:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:16:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:16:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:16:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:16:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.95s (batch: 4.34s, save: 10.60s)	[pipeline.py: 300]
+05/10 16:16:33 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.42s:
+  episode_total: mean=213.06s, total=213.06s, count=1, min=213064.8ms, max=213064.8ms
+  sensor_polling: mean=519.9ms, total=155.96s, count=300, min=443.3ms, max=910.8ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10604.7ms, max=10604.7ms
+  physics_step: mean=27.3ms, total=8.18s, count=300, min=18.9ms, max=93.2ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.7ms, max=4344.7ms
+  task_sampling: mean=424.7ms, total=424.7ms, count=1, min=424.7ms, max=424.7ms
+  task_specific_sample: mean=420.0ms, total=420.0ms, count=1, min=420.0ms, max=420.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=611.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:16:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:16:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:16:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:16:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:16:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:16:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:16:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033911m	[env.py: 870]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:16:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97057961  0.86211681  0.03391084] yaw=-142.1deg	[env.py: 1019]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93489134  1.25786349  0.03391084] yaw=-136.3deg	[env.py: 1019]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8734841   0.33948078  0.03391084] yaw=163.7deg	[env.py: 1019]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:16:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.1ms, total=238.1ms	[env.py: 1075]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.862, 0.034)	[env.py: 1079]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.1 deg	[env.py: 1082]
+05/10 16:16:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:16:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:16:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:16:35 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:16:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:16:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:16:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:16:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:16:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:16:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:16:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:16:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:16:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.371[m] 89.973[deg]	[grasp_sample.py: 539]
+05/10 16:16:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:16:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.912s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:16:38 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.148[deg]	[grasp_sample.py: 539]
+05/10 16:16:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:16:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:16:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:16:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:16:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:16:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:16:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:16:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:16:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:16:51 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:16:51 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.512[deg]	[grasp_sample.py: 539]
+05/10 16:16:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:16:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:16:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:16:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:17:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:17:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:17:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:17:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:17:06 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:17:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]	[grasp_sample.py: 539]
+05/10 16:17:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:17:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:17:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:17:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:17:09 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:17:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:17:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:17:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:17:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:17:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:17:21 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]	[grasp_sample.py: 539]
+05/10 16:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:17:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:17:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:17:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:17:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:17:30 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/10 16:17:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:17:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:17:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:17:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:17:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:17:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.014s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:17:34 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.766[deg]	[grasp_sample.py: 539]
+05/10 16:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:35 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:17:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:17:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:17:36 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 16:17:36 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 16:17:36 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=False episode_total=1.09s:
+  episode_total: mean=144.74s, total=289.48s, count=2, min=135463.7ms, max=154020.2ms
+  sensor_polling: mean=519.1ms, total=214.89s, count=414, min=442.8ms, max=1179.4ms
+  physics_step: mean=25.9ms, total=10.71s, count=414, min=13.3ms, max=75.8ms
+  task_sampling: mean=542.9ms, total=1.09s, count=2, min=520.4ms, max=565.3ms
+  task_specific_sample: mean=539.0ms, total=1.08s, count=2, min=516.4ms, max=561.5ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
+  mj_forward_sync: mean=496.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:17:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:17:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:17:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:17:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:17:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070770m	[env.py: 870]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75914779  0.17393625  0.07076972] yaw=162.7deg	[env.py: 1019]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91777318  0.05388592  0.07076972] yaw=158.6deg	[env.py: 1019]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86167201  1.18775974  0.07076972] yaw=-147.7deg	[env.py: 1019]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.7ms, total=339.7ms	[env.py: 1075]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.174, 0.071)	[env.py: 1079]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg	[env.py: 1082]
+05/10 16:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:17:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:17:37 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:17:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:17:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:17:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:17:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:17:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:17:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:17:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:17:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:17:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059648m	[env.py: 870]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:17:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89258879  1.13693941  0.0596475 ] yaw=-136.5deg	[env.py: 1019]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77685847  0.40315249  0.0596475 ] yaw=178.8deg	[env.py: 1019]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74934075  0.92279278  0.0596475 ] yaw=-165.0deg	[env.py: 1019]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:17:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.5ms, total=95.5ms	[env.py: 1075]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 1.137, 0.060)	[env.py: 1079]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.5 deg	[env.py: 1082]
+05/10 16:17:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:17:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:17:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:17:38 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:17:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:17:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:17:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:17:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:17:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.021s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:17:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.564[m] 87.634[deg]	[grasp_sample.py: 539]
+05/10 16:17:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:17:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:17:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:17:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:17:42 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.651[m] 88.198[deg]	[grasp_sample.py: 539]
+05/10 16:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:17:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:17:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:17:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:17:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:17:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.80s (batch: 4.84s, save: 10.96s)	[pipeline.py: 300]
+05/10 16:17:46 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s:
+  episode_total: mean=201.70s, total=201.70s, count=1, min=201695.8ms, max=201695.8ms
+  sensor_polling: mean=519.9ms, total=149.72s, count=288, min=436.0ms, max=797.4ms
+  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10964.7ms, max=10964.7ms
+  physics_step: mean=28.2ms, total=8.13s, count=288, min=16.4ms, max=83.0ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4839.2ms, max=4839.2ms
+  task_sampling: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms
+  task_specific_sample: mean=555.0ms, total=555.0ms, count=1, min=555.0ms, max=555.0ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=634.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:17:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:17:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:17:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:17:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:17:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:17:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:17:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009944m	[env.py: 870]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:17:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70033216  0.80277506  0.00994405] yaw=-170.9deg	[env.py: 1019]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03097913  0.828807    0.00994405] yaw=-152.2deg	[env.py: 1019]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:17:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.0ms	[env.py: 1075]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.803, 0.010)	[env.py: 1079]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg	[env.py: 1082]
+05/10 16:17:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:17:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:17:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:17:49 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:17:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:17:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:17:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:17:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:17:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.820s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:17:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.607[m] 88.436[deg]	[grasp_sample.py: 539]
+05/10 16:17:52 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:17:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:17:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:17:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:17:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:17:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:17:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:17:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032844m	[env.py: 870]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:17:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74052538  0.12196726  0.03284389] yaw=164.4deg	[env.py: 1019]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89239633  0.27791917  0.03284389] yaw=177.0deg	[env.py: 1019]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16404811  1.03997636  0.03284389] yaw=-135.0deg	[env.py: 1019]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:17:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.7ms	[env.py: 1075]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.122, 0.033)	[env.py: 1079]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
+05/10 16:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:17:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:17:54 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:17:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:17:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:17:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:17:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:17:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.950s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:17:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 87.021[deg]	[grasp_sample.py: 539]
+05/10 16:17:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:17:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:17:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:18:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:18:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:18:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:19:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:19:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:19:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:19:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:19:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:19:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:19:48 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:19:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:19:48 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/10 16:20:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:20:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:20:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.63s (batch: 4.21s, save: 9.42s)	[pipeline.py: 300]
+05/10 16:20:02 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.55s:
+  episode_total: mean=207.33s, total=207.33s, count=1, min=207334.2ms, max=207334.2ms
+  sensor_polling: mean=522.9ms, total=154.79s, count=296, min=439.4ms, max=846.9ms
+  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9420.1ms, max=9420.1ms
+  physics_step: mean=26.0ms, total=7.71s, count=296, min=15.8ms, max=90.7ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4212.2ms, max=4212.2ms
+  task_sampling: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
+  task_specific_sample: mean=545.2ms, total=545.2ms, count=1, min=545.2ms, max=545.2ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=655.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:20:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:20:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:20:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:20:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:20:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:20:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:20:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001852m	[env.py: 870]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:20:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80084453  1.10818126  0.0018516 ] yaw=-150.0deg	[env.py: 1019]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8730356   0.33828368  0.0018516 ] yaw=176.6deg	[env.py: 1019]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77338296  0.61552429  0.0018516 ] yaw=-176.9deg	[env.py: 1019]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:20:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.4ms, total=193.4ms	[env.py: 1075]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 1.108, 0.002)	[env.py: 1079]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg	[env.py: 1082]
+05/10 16:20:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:20:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:20:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:20:04 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:20:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:20:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:20:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:20:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:20:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:20:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.693[m] 95.221[deg]	[grasp_sample.py: 539]
+05/10 16:20:07 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:20:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:20:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:20:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:20:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:20:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:20:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:20:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005519m	[env.py: 870]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:20:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70556433  0.8489907   0.00551935] yaw=-163.8deg	[env.py: 1019]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79733617 -0.0107319   0.00551935] yaw=161.1deg	[env.py: 1019]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:20:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms	[env.py: 1075]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.849, 0.006)	[env.py: 1079]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg	[env.py: 1082]
+05/10 16:20:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:20:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:20:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:20:09 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:20:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:20:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:20:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:20:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:20:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.635s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:20:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 87.449[deg]	[grasp_sample.py: 539]
+05/10 16:20:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:20:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:20:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:20:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:20:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:20:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:20:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.916s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 16:20:39 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 16:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:20:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:20:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:20:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:20:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:20:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:20:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078665m	[env.py: 870]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:20:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76230967  0.16982757  0.07866528] yaw=171.6deg	[env.py: 1019]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9976375   0.75506318  0.07866528] yaw=-149.6deg	[env.py: 1019]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79286703  0.69471688  0.07866528] yaw=-155.5deg	[env.py: 1019]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:20:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=512.2ms, total=512.2ms	[env.py: 1075]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.170, 0.079)	[env.py: 1079]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg	[env.py: 1082]
+05/10 16:20:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:20:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:20:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:20:42 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:20:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:20:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:20:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:20:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:20:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.054s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:20:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.560[m] 97.153[deg]	[grasp_sample.py: 539]
+05/10 16:20:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:20:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:20:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:20:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:20:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:20:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:20:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:20:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:20:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:20:44 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.306[deg]	[grasp_sample.py: 539]
+05/10 16:20:45 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:20:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:20:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:20:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:20:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:20:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:20:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:20:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:20:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:20:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:20:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077196m	[env.py: 870]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:20:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90942821  0.49564426  0.07719582] yaw=-175.6deg	[env.py: 1019]
+05/10 16:20:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95425783  0.1672931   0.07719582] yaw=149.2deg	[env.py: 1019]
+05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76981924  0.72782019  0.07719582] yaw=-163.6deg	[env.py: 1019]
+05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:20:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.3ms, total=261.3ms	[env.py: 1075]
+05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.496, 0.077)	[env.py: 1079]
+05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.6 deg	[env.py: 1082]
+05/10 16:20:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.793m	[env.py: 1086]
+05/10 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:20:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:20:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:20:48 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:20:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:20:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:20:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:20:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:20:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:20:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.394[m] 97.959[deg]	[grasp_sample.py: 539]
+05/10 16:20:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:20:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:20:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:20:50 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:21:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:21:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:21:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:21:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:21:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:21:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:21:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:21:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.34s (batch: 5.03s, save: 9.31s)	[pipeline.py: 300]
+05/10 16:21:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:21:32 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
+  episode_total: mean=111.34s, total=222.69s, count=2, min=3924.5ms, max=218764.2ms
+  sensor_polling: mean=534.0ms, total=160.21s, count=300, min=459.3ms, max=852.5ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9305.7ms, max=9305.7ms
+  physics_step: mean=27.7ms, total=8.30s, count=300, min=19.0ms, max=61.0ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5033.5ms, max=5033.5ms
+  task_sampling: mean=460.6ms, total=921.1ms, count=2, min=387.7ms, max=533.4ms
+  task_specific_sample: mean=456.2ms, total=912.5ms, count=2, min=384.2ms, max=528.3ms
+  scene_randomize: mean=2.6ms, total=5.1ms, count=2, min=1.5ms, max=3.6ms
+  mj_forward_sync: mean=608.1us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:21:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:21:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:21:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:21:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:21:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:21:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:21:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093497m	[env.py: 870]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:21:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99094009  0.1769598   0.0934975 ] yaw=155.8deg	[env.py: 1019]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86959035  0.45016866  0.0934975 ] yaw=170.2deg	[env.py: 1019]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72183036  0.01775648  0.0934975 ] yaw=159.9deg	[env.py: 1019]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:21:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms	[env.py: 1075]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.991, 0.177, 0.093)	[env.py: 1079]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.8 deg	[env.py: 1082]
+05/10 16:21:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:21:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:21:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:21:35 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:21:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:21:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:21:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:21:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:21:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:21:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:21:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.376[m] 100.324[deg]	[grasp_sample.py: 539]
+05/10 16:21:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:21:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:21:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:21:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:21:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:21:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:21:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:22:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:22:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:22:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:22:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:23:03 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:23:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:23:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:23:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:23:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:23:23 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:23:23 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.183[deg]	[grasp_sample.py: 539]
+05/10 16:23:24 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:23:24 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:23:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:23:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:23:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:23:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:23:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:23:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:23:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:23:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:23:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062068m	[env.py: 870]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:23:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67073229  0.82334331  0.06206791] yaw=-154.8deg	[env.py: 1019]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84445441  0.52527591  0.06206791] yaw=-180.9deg	[env.py: 1019]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76404605  0.63309722  0.06206791] yaw=-162.0deg	[env.py: 1019]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:23:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=183.9ms	[env.py: 1075]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.823, 0.062)	[env.py: 1079]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.8 deg	[env.py: 1082]
+05/10 16:23:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:23:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:23:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:23:26 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:23:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:23:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:23:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:23:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:23:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:23:29 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.672[m] 87.062[deg]	[grasp_sample.py: 539]
+05/10 16:23:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:23:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:23:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:23:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:23:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.34s (batch: 4.19s, save: 8.15s)	[pipeline.py: 300]
+05/10 16:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:37 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:23:37 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.94s:
+  episode_total: mean=105.88s, total=211.75s, count=2, min=3358.9ms, max=208394.3ms
+  sensor_polling: mean=534.5ms, total=160.35s, count=300, min=450.8ms, max=1017.7ms
+  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8151.1ms, max=8151.1ms
+  physics_step: mean=26.1ms, total=7.83s, count=300, min=18.6ms, max=84.1ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.0ms, max=4186.0ms
+  task_sampling: mean=471.3ms, total=942.6ms, count=2, min=439.9ms, max=502.7ms
+  task_specific_sample: mean=467.7ms, total=935.3ms, count=2, min=436.8ms, max=498.6ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:23:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:23:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:23:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:23:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:23:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:23:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041867m	[env.py: 870]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:23:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04484886  0.87475995  0.04186663] yaw=-146.6deg	[env.py: 1019]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:23:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms	[env.py: 1075]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.875, 0.042)	[env.py: 1079]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg	[env.py: 1082]
+05/10 16:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:23:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:23:39 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:23:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:23:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:23:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:23:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:23:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:23:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.310[m] 87.013[deg]	[grasp_sample.py: 539]
+05/10 16:23:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:23:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:23:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:23:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:23:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:23:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:23:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:23:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:23:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.992[deg]	[grasp_sample.py: 539]
+05/10 16:23:50 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:23:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:23:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:23:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:23:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:23:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:23:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:23:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073540m	[env.py: 870]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:23:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86593892  0.30653598  0.07354029] yaw=157.0deg	[env.py: 1019]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91058476  0.33824859  0.07354029] yaw=163.7deg	[env.py: 1019]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84284844  0.10147941  0.07354029] yaw=154.5deg	[env.py: 1019]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:23:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.1ms, total=272.2ms	[env.py: 1075]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.307, 0.074)	[env.py: 1079]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg	[env.py: 1082]
+05/10 16:23:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:23:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:23:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:23:52 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:23:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:23:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:23:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:23:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:23:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:23:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.398[m] 85.289[deg]	[grasp_sample.py: 539]
+05/10 16:23:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:23:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:23:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:24:04 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:24:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 16:24:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:24:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:24:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:24:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:24:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.02s (batch: 4.69s, save: 11.33s)	[pipeline.py: 300]
+05/10 16:24:20 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.67s:
+  episode_total: mean=200.13s, total=600.39s, count=3, min=188567.6ms, max=212845.0ms
+  sensor_polling: mean=525.1ms, total=456.85s, count=870, min=440.9ms, max=1002.4ms
+  physics_step: mean=25.2ms, total=21.92s, count=870, min=15.6ms, max=109.1ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11327.9ms, max=11327.9ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4692.7ms, max=4692.7ms
+  task_sampling: mean=556.0ms, total=1.67s, count=3, min=514.6ms, max=607.7ms
+  task_specific_sample: mean=552.1ms, total=1.66s, count=3, min=510.8ms, max=604.3ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.6ms, max=2.5ms
+  mj_forward_sync: mean=544.5us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:24:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:24:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:24:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:24:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:24:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:24:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:24:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059099m	[env.py: 870]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:24:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06711343  1.21619197  0.05909856] yaw=-135.8deg	[env.py: 1019]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72625719  0.67466175  0.05909856] yaw=-180.2deg	[env.py: 1019]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81071773  0.59215573  0.05909856] yaw=-175.6deg	[env.py: 1019]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:24:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.5ms, total=285.5ms	[env.py: 1075]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.067, 1.216, 0.059)	[env.py: 1079]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.8 deg	[env.py: 1082]
+05/10 16:24:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:24:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:24:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:24:23 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:24:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:24:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:24:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:24:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:24:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:24:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:24:27 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.537[m] 79.409[deg]	[grasp_sample.py: 539]
+05/10 16:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:24:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:24:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:24:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:24:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:24:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:24:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:24:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:24:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:24:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:25:15 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 16:25:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:25:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:25:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:25:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:25:16 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.900s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:25:16 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.844[deg]	[grasp_sample.py: 539]
+05/10 16:25:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:25:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:25:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:25:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:25:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:25:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:25:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:25:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:25:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:26:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:26:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:26:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:26:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:26:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:26:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:26:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.253[deg]	[grasp_sample.py: 539]
+05/10 16:26:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:26:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:26:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:26:16 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 16:26:16 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=0.86s:
+  episode_total: mean=140.11s, total=280.22s, count=2, min=109913.9ms, max=170305.5ms
+  sensor_polling: mean=525.2ms, total=246.31s, count=469, min=433.2ms, max=941.6ms
+  physics_step: mean=25.4ms, total=11.92s, count=469, min=16.2ms, max=80.4ms
+  task_sampling: mean=429.0ms, total=858.1ms, count=2, min=403.1ms, max=454.9ms
+  task_specific_sample: mean=425.4ms, total=850.8ms, count=2, min=399.1ms, max=451.7ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=431.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:26:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:26:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:26:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:26:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:26:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:26:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:26:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013091m	[env.py: 870]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:26:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99154187  1.11633231  0.01309076] yaw=-135.1deg	[env.py: 1019]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67323299  0.79388964  0.01309076] yaw=-152.2deg	[env.py: 1019]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78917736  0.9803987   0.01309076] yaw=-159.0deg	[env.py: 1019]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:26:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms	[env.py: 1075]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.992, 1.116, 0.013)	[env.py: 1079]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg	[env.py: 1082]
+05/10 16:26:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:26:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:26:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:26:18 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:26:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:26:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:26:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:26:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:26:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 91.410[deg]	[grasp_sample.py: 539]
+05/10 16:26:21 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:23 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:26:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:26:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:26:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:26:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:26:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:26:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:26:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087298m	[env.py: 870]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:26:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88063798  0.38033654  0.08729835] yaw=165.3deg	[env.py: 1019]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93485014  0.31995196  0.08729835] yaw=177.5deg	[env.py: 1019]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.15611414  1.15962341  0.08729835] yaw=-136.9deg	[env.py: 1019]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:26:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.8ms	[env.py: 1075]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.380, 0.087)	[env.py: 1079]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg	[env.py: 1082]
+05/10 16:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:26:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:26:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:26:23 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:26:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:26:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:26:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:26:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:26:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:26:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.413[m] 95.775[deg]	[grasp_sample.py: 539]
+05/10 16:26:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:26:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:26:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:26:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:26:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:26:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:26:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.380s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:26:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.044[m] 1.034[deg]	[grasp_sample.py: 539]
+05/10 16:26:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:26:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:26:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:26:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:26:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:26:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:26:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:26:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:26:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:38 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:26:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.600[deg]	[grasp_sample.py: 539]
+05/10 16:26:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:26:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:26:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:26:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:26:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:26:44 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:26:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:26:44 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/10 16:26:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:26:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:26:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:26:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:26:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:26:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.60s (batch: 4.29s, save: 8.30s)	[pipeline.py: 300]
+05/10 16:26:57 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.57s:
+  episode_total: mean=198.63s, total=198.63s, count=1, min=198630.7ms, max=198630.7ms
+  sensor_polling: mean=536.9ms, total=151.94s, count=283, min=449.0ms, max=987.9ms
+  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8303.4ms, max=8303.4ms
+  physics_step: mean=26.2ms, total=7.41s, count=283, min=16.1ms, max=66.7ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.1ms, max=4293.1ms
+  task_sampling: mean=571.8ms, total=571.8ms, count=1, min=571.8ms, max=571.8ms
+  task_specific_sample: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=572.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:26:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:26:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:26:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:26:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:26:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:26:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:26:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052555m	[env.py: 870]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:26:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04097692  1.03950816  0.05255549] yaw=-146.9deg	[env.py: 1019]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80319627  0.62207066  0.05255549] yaw=-180.2deg	[env.py: 1019]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77152025  0.36809211  0.05255549] yaw=175.3deg	[env.py: 1019]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:26:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=289.9ms, total=290.0ms	[env.py: 1075]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.040, 0.053)	[env.py: 1079]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg	[env.py: 1082]
+05/10 16:26:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:26:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:27:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:27:00 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:27:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:27:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:27:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:27:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:27:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:27:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.041[deg]	[grasp_sample.py: 539]
+05/10 16:27:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:27:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:27:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:27:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:27:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:27:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:27:12 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:27:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:27:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:27:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:27:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:27:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:27:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:27:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:27:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:27:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.261[deg]	[grasp_sample.py: 539]
+05/10 16:27:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:27:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:27:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:27:34 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 16:27:34 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.60s:
+  episode_total: mean=192.16s, total=192.16s, count=1, min=192158.4ms, max=192158.4ms
+  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=446.8ms, max=895.4ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=17.4ms, max=71.0ms
+  task_sampling: mean=595.4ms, total=595.4ms, count=1, min=595.4ms, max=595.4ms
+  task_specific_sample: mean=590.7ms, total=590.7ms, count=1, min=590.7ms, max=590.7ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=622.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:27:35 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:27:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:27:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:27:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:27:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:27:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:27:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:27:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022706m	[env.py: 870]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98687091  0.15740173  0.02270557] yaw=161.0deg	[env.py: 1019]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:27:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.8ms	[env.py: 1075]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.987, 0.157, 0.023)	[env.py: 1079]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg	[env.py: 1082]
+05/10 16:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:27:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:27:37 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:27:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:27:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:27:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:27:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:27:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:27:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.305[m] 82.211[deg]	[grasp_sample.py: 539]
+05/10 16:27:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:27:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:27:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:27:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:27:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:27:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:27:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.70s (batch: 4.54s, save: 9.16s)	[pipeline.py: 300]
+05/10 16:27:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:50 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.88s:
+  episode_total: mean=202.66s, total=607.98s, count=3, min=181017.1ms, max=237928.0ms
+  sensor_polling: mean=523.5ms, total=469.10s, count=896, min=448.3ms, max=1000.8ms
+  physics_step: mean=26.6ms, total=23.79s, count=896, min=14.0ms, max=72.2ms
+  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9155.3ms, max=9155.3ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4541.9ms, max=4541.9ms
+  task_sampling: mean=625.3ms, total=1.88s, count=3, min=374.2ms, max=903.4ms
+  task_specific_sample: mean=621.7ms, total=1.87s, count=3, min=370.9ms, max=899.4ms
+  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.7ms
+  mj_forward_sync: mean=450.5us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:27:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:27:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:27:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:27:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:27:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:27:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:27:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034681m	[env.py: 870]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:27:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82143514  0.86155997  0.03468113] yaw=-167.5deg	[env.py: 1019]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:27:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02534892  0.8238947   0.03468113] yaw=-151.2deg	[env.py: 1019]
+05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:27:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.3ms, total=366.3ms	[env.py: 1075]
+05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.862, 0.035)	[env.py: 1079]
+05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
+05/10 16:27:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/10 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:27:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:27:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:27:52 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:27:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:27:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:27:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:27:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:27:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:27:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.167[deg]	[grasp_sample.py: 539]
+05/10 16:27:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:27:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:27:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:28:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:28:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:28:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:28:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:28:01 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.409s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:28:01 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.185[deg]	[grasp_sample.py: 539]
+05/10 16:28:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:28:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:28:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:28:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:28:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:28:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:28:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:28:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:28:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:28:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:29:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:29:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:29:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:29:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:29:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:29:08 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.848[deg]	[grasp_sample.py: 539]
+05/10 16:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:09 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:29:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:29:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:29:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:29:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:29:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:29:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:29:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067332m	[env.py: 870]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:29:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09651482  1.05819427  0.06733227] yaw=-134.2deg	[env.py: 1019]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86513804  0.44998153  0.06733227] yaw=187.8deg	[env.py: 1019]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.20355933  1.06356037  0.06733227] yaw=-139.4deg	[env.py: 1019]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:29:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.5ms	[env.py: 1075]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.097, 1.058, 0.067)	[env.py: 1079]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg	[env.py: 1082]
+05/10 16:29:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
+05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:29:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:29:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:29:11 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:29:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:29:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:29:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:29:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:29:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:29:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:29:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:29:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:29:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 84.356[deg]	[grasp_sample.py: 539]
+05/10 16:29:12 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:29:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.110[deg]	[grasp_sample.py: 539]
+05/10 16:29:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:29:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:29:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:29:13 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:29:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:29:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:29:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:29:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:29:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:29:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:29:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077671m	[env.py: 870]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:29:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75172133  0.88893214  0.07767075] yaw=-164.5deg	[env.py: 1019]
+05/10 16:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88947699  0.65714932  0.07767075] yaw=-172.6deg	[env.py: 1019]
+05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:29:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.4ms, total=308.4ms	[env.py: 1075]
+05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.889, 0.078)	[env.py: 1079]
+05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
+05/10 16:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/10 16:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:29:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:29:16 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:29:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:29:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:29:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:29:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:29:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.644s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:29:18 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.637[m] 89.072[deg]	[grasp_sample.py: 539]
+05/10 16:29:19 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:29:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:29:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:29:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:29:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:29:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:29:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:29:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046036m	[env.py: 870]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:29:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70457748  0.84556131  0.04603576] yaw=-168.7deg	[env.py: 1019]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93082947  0.47619335  0.04603576] yaw=182.2deg	[env.py: 1019]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67813398  0.72069999  0.04603576] yaw=-169.1deg	[env.py: 1019]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:29:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms	[env.py: 1075]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.846, 0.046)	[env.py: 1079]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
+05/10 16:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m	[env.py: 1086]
+05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:29:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:29:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:29:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:29:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:29:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:29:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:29:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:29:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.610[m] 82.071[deg]	[grasp_sample.py: 539]
+05/10 16:29:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:29:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:29:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:29:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:29:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:29:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:29:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:29:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:29:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:29:40 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:29:40 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.213[deg]	[grasp_sample.py: 539]
+05/10 16:29:41 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:29:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:29:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:29:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:29:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:29:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:29:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:29:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038540m	[env.py: 870]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:29:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7607886   0.27304559  0.03854009] yaw=176.0deg	[env.py: 1019]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94789648  0.18629998  0.03854009] yaw=154.5deg	[env.py: 1019]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82501117  0.05040355  0.03854009] yaw=146.3deg	[env.py: 1019]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.8ms	[env.py: 1075]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.273, 0.039)	[env.py: 1079]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg	[env.py: 1082]
+05/10 16:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:29:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:29:44 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:29:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:29:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:29:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:29:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:29:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:29:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.504[m] 81.801[deg]	[grasp_sample.py: 539]
+05/10 16:29:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:29:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:29:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:29:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:30:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:30:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:30:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:30:28 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:30:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:30:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:30:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:30:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:30:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:30:50 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:30:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:30:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:31:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:31:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:31:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.85s (batch: 4.32s, save: 8.53s)	[pipeline.py: 300]
+05/10 16:31:04 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s:
+  episode_total: mean=192.29s, total=192.29s, count=1, min=192291.6ms, max=192291.6ms
+  sensor_polling: mean=487.3ms, total=146.18s, count=300, min=451.8ms, max=877.0ms
+  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8529.1ms, max=8529.1ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.5ms, max=33.8ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4316.5ms, max=4316.5ms
+  task_sampling: mean=630.2ms, total=630.2ms, count=1, min=630.2ms, max=630.2ms
+  task_specific_sample: mean=626.3ms, total=626.3ms, count=1, min=626.3ms, max=626.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=456.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:31:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:31:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:31:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:31:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:31:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:31:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:31:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053351m	[env.py: 870]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:31:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00603416  1.17639771  0.05335137] yaw=-142.6deg	[env.py: 1019]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82739183  0.05531599  0.05335137] yaw=147.9deg	[env.py: 1019]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98438393  0.76016419  0.05335137] yaw=-161.0deg	[env.py: 1019]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:31:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms	[env.py: 1075]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.006, 1.176, 0.053)	[env.py: 1079]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg	[env.py: 1082]
+05/10 16:31:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:31:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:31:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:31:06 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:31:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:31:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:31:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:31:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:31:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:31:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.580[m] 95.222[deg]	[grasp_sample.py: 539]
+05/10 16:31:09 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:31:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:31:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:31:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:31:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:31:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:31:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:31:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022734m	[env.py: 870]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:31:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69013274  0.54954135  0.02273446] yaw=-180.8deg	[env.py: 1019]
+05/10 16:31:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83007082  1.1099447   0.02273446] yaw=-144.6deg	[env.py: 1019]
+05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:31:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=328.7ms, total=328.7ms	[env.py: 1075]
+05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.690, 0.550, 0.023)	[env.py: 1079]
+05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg	[env.py: 1082]
+05/10 16:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/10 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:31:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:31:11 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:31:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:31:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:31:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:31:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:31:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:31:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.530[m] 82.979[deg]	[grasp_sample.py: 539]
+05/10 16:31:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:31:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:31:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:31:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:31:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:31:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:31:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:31:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:31:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:31:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:31:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:31:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:31:39 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.662s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:31:39 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.338[deg]	[grasp_sample.py: 539]
+05/10 16:31:40 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:31:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:31:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:31:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:31:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:31:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:31:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:31:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087066m	[env.py: 870]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:31:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84669373  0.45903207  0.08706636] yaw=179.1deg	[env.py: 1019]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94923896  0.4436376   0.08706636] yaw=177.4deg	[env.py: 1019]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68722737  0.10985743  0.08706636] yaw=169.2deg	[env.py: 1019]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:31:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.6ms, total=193.6ms	[env.py: 1075]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.459, 0.087)	[env.py: 1079]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg	[env.py: 1082]
+05/10 16:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:31:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:31:43 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:31:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:31:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:31:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:31:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:31:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:31:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 97.445[deg]	[grasp_sample.py: 539]
+05/10 16:31:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:31:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:31:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:31:54 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:32:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:32:15 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:32:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 16:32:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:32:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:32:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:32:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:32:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:32:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:32:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:32:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.81s (batch: 3.95s, save: 10.85s)	[pipeline.py: 300]
+05/10 16:32:31 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.44s:
+  episode_total: mean=97.06s, total=291.19s, count=3, min=3428.9ms, max=190505.8ms
+  sensor_polling: mean=480.9ms, total=221.22s, count=460, min=442.9ms, max=893.1ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.3ms, max=10850.3ms
+  physics_step: mean=22.4ms, total=10.32s, count=460, min=15.8ms, max=37.0ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3954.9ms, max=3954.9ms
+  task_sampling: mean=478.7ms, total=1.44s, count=3, min=369.4ms, max=602.2ms
+  task_specific_sample: mean=475.2ms, total=1.43s, count=3, min=366.1ms, max=598.4ms
+  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.6ms
+  mj_forward_sync: mean=456.7us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:32:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:32:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:32:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:32:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:32:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:32:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:32:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098563m	[env.py: 870]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:32:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73175932  0.88425775  0.09856334] yaw=-166.1deg	[env.py: 1019]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03302526  1.05348668  0.09856334] yaw=-131.0deg	[env.py: 1019]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90752143  1.18015615  0.09856334] yaw=-147.1deg	[env.py: 1019]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:32:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.1ms	[env.py: 1075]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.884, 0.099)	[env.py: 1079]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg	[env.py: 1082]
+05/10 16:32:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:32:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:32:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:32:33 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:32:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:32:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:32:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:32:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:32:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.073s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:32:36 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.690[m] 99.562[deg]	[grasp_sample.py: 539]
+05/10 16:32:37 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:32:37 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/10 16:32:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:32:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:32:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:32:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:32:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:32:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:32:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024562m	[env.py: 870]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:32:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14410645  1.15942438  0.02456151] yaw=-123.8deg	[env.py: 1019]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78942225  0.76124507  0.02456151] yaw=-167.4deg	[env.py: 1019]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89079681  0.99996986  0.02456151] yaw=-144.0deg	[env.py: 1019]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:32:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.6ms, total=251.6ms	[env.py: 1075]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.159, 0.025)	[env.py: 1079]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg	[env.py: 1082]
+05/10 16:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:32:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:32:40 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:32:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:32:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:32:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:32:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:32:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:32:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 89.426[deg]	[grasp_sample.py: 539]
+05/10 16:32:43 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:32:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:32:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:32:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:32:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:32:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:32:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:32:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006131m	[env.py: 870]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:32:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8884785   0.10331304  0.00613069] yaw=159.0deg	[env.py: 1019]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86344759  0.85633459  0.00613069] yaw=-159.6deg	[env.py: 1019]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73553633  0.59103743  0.00613069] yaw=-169.9deg	[env.py: 1019]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:32:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.8ms	[env.py: 1075]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.103, 0.006)	[env.py: 1079]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.0 deg	[env.py: 1082]
+05/10 16:32:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:32:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:32:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:32:45 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:32:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:32:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:32:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:32:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:32:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:32:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:32:46 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.497[m] 95.974[deg]	[grasp_sample.py: 539]
+05/10 16:32:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:32:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:32:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:32:56 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:32:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:32:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:33:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:33:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:33:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.23s (batch: 5.74s, save: 9.49s)	[pipeline.py: 300]
+05/10 16:33:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.05s:
+  episode_total: mean=185.59s, total=371.18s, count=2, min=162157.6ms, max=209022.8ms
+  sensor_polling: mean=488.1ms, total=285.53s, count=585, min=456.1ms, max=896.9ms
+  physics_step: mean=23.5ms, total=13.73s, count=585, min=16.4ms, max=73.1ms
+  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9490.9ms, max=9490.9ms
+  save_batch_prep: mean=5.74s, total=5.74s, count=1, min=5736.0ms, max=5736.0ms
+  task_sampling: mean=526.7ms, total=1.05s, count=2, min=451.6ms, max=601.8ms
+  task_specific_sample: mean=522.6ms, total=1.05s, count=2, min=447.1ms, max=598.1ms
+  scene_randomize: mean=2.5ms, total=5.1ms, count=2, min=2.5ms, max=2.6ms
+  mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:33:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:33:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:33:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:33:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:33:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:33:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:33:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020172m	[env.py: 870]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:33:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83671046  0.766323    0.02017168] yaw=-155.3deg	[env.py: 1019]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72627142  0.51052438  0.02017168] yaw=-185.7deg	[env.py: 1019]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:33:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.8ms, total=250.8ms	[env.py: 1075]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.837, 0.766, 0.020)	[env.py: 1079]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg	[env.py: 1082]
+05/10 16:33:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:33:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:33:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:33:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:33:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:33:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:33:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:33:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.839s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:33:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.467[m] 86.557[deg]	[grasp_sample.py: 539]
+05/10 16:33:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:33:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:33:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:33:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:33:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:34:02 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:34:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:34:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:34:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:34:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:34:30 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:34:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:34:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:34:40 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:34:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:34:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:34:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.41s (batch: 4.87s, save: 10.54s)	[pipeline.py: 300]
+05/10 16:34:46 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
+  episode_total: mean=109.27s, total=218.53s, count=2, min=3258.6ms, max=215276.3ms
+  sensor_polling: mean=529.1ms, total=158.72s, count=300, min=455.5ms, max=923.6ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.9ms, max=10538.9ms
+  physics_step: mean=26.9ms, total=8.08s, count=300, min=16.8ms, max=69.1ms
+  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4871.6ms, max=4871.6ms
+  task_sampling: mean=516.3ms, total=1.03s, count=2, min=428.5ms, max=604.1ms
+  task_specific_sample: mean=512.6ms, total=1.03s, count=2, min=424.3ms, max=600.9ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=452.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:34:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:34:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:34:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:34:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:34:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:34:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:34:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008207m	[env.py: 870]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:34:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91648021  0.77959016  0.00820717] yaw=-162.0deg	[env.py: 1019]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87001708  0.99432572  0.00820717] yaw=-152.0deg	[env.py: 1019]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80652679  0.72421969  0.00820717] yaw=-161.9deg	[env.py: 1019]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:34:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms	[env.py: 1075]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.780, 0.008)	[env.py: 1079]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg	[env.py: 1082]
+05/10 16:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:34:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:34:48 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:34:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:34:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:34:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:34:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.118s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:34:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.557s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:34:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.423[m] 93.039[deg]	[grasp_sample.py: 539]
+05/10 16:34:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:34:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:34:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:35:03 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:35:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:35:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:35:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:35:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:35:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.06s (batch: 4.48s, save: 8.58s)	[pipeline.py: 300]
+05/10 16:35:17 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.87s:
+  episode_total: mean=133.31s, total=533.25s, count=4, min=3236.5ms, max=214530.0ms
+  sensor_polling: mean=503.3ms, total=416.76s, count=828, min=433.8ms, max=1000.1ms
+  physics_step: mean=24.2ms, total=20.03s, count=828, min=15.8ms, max=98.2ms
+  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8580.4ms, max=8580.4ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.0ms, max=4483.0ms
+  task_sampling: mean=468.2ms, total=1.87s, count=4, min=438.8ms, max=483.6ms
+  task_specific_sample: mean=464.7ms, total=1.86s, count=4, min=435.5ms, max=479.3ms
+  scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=1.2ms, max=1.4ms
+  mj_forward_sync: mean=464.3us, total=1.9ms, count=4, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:35:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:35:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:35:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:35:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:35:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:35:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:35:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043819m	[env.py: 870]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:35:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93857913  0.98534605  0.04381894] yaw=-150.8deg	[env.py: 1019]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84877402  0.52257774  0.04381894] yaw=-183.6deg	[env.py: 1019]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1872983   1.10851821  0.04381894] yaw=-139.0deg	[env.py: 1019]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:35:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.0ms	[env.py: 1075]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.985, 0.044)	[env.py: 1079]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg	[env.py: 1082]
+05/10 16:35:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:35:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:35:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:35:19 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:35:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:35:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:35:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:35:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:35:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:35:21 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.544[m] 88.557[deg]	[grasp_sample.py: 539]
+05/10 16:35:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:35:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:35:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:35:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:35:42 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:35:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:35:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:36:05 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:36:07 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:36:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 16:36:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:36:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:36:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:36:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:36:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.41s (batch: 4.50s, save: 11.91s)	[pipeline.py: 300]
+05/10 16:36:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.52s:
+  episode_total: mean=75.87s, total=227.61s, count=3, min=4046.0ms, max=218683.1ms
+  sensor_polling: mean=542.5ms, total=162.74s, count=300, min=450.0ms, max=1042.2ms
+  save_trajectories: mean=11.91s, total=11.91s, count=1, min=11906.7ms, max=11906.7ms
+  physics_step: mean=27.4ms, total=8.22s, count=300, min=19.1ms, max=162.9ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4500.4ms, max=4500.4ms
+  task_sampling: mean=506.0ms, total=1.52s, count=3, min=455.0ms, max=540.7ms
+  task_specific_sample: mean=502.8ms, total=1.51s, count=3, min=452.1ms, max=537.8ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=458.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:36:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:36:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:36:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:36:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:36:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:36:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:36:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073825m	[env.py: 870]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:36:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90864735  0.22478142  0.07382458] yaw=170.1deg	[env.py: 1019]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74669891  0.21978485  0.07382458] yaw=171.7deg	[env.py: 1019]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0136315   0.83607632  0.07382458] yaw=-152.6deg	[env.py: 1019]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:36:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.1ms	[env.py: 1075]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.225, 0.074)	[env.py: 1079]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg	[env.py: 1082]
+05/10 16:36:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:36:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:36:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:36:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:36:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:36:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:36:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:36:26 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.404[m] 98.331[deg]	[grasp_sample.py: 539]
+05/10 16:36:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:36:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:36:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:36:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:36:34 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:36:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:36:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:36:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:36:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:36:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:36:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 15.04s (batch: 4.64s, save: 10.40s)	[pipeline.py: 300]
+05/10 16:36:50 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
+  episode_total: mean=215.64s, total=215.64s, count=1, min=215642.0ms, max=215642.0ms
+  sensor_polling: mean=526.6ms, total=157.97s, count=300, min=444.7ms, max=919.2ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10402.6ms, max=10402.6ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.7ms, max=102.4ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.8ms, max=4641.8ms
+  task_sampling: mean=576.1ms, total=576.1ms, count=1, min=576.1ms, max=576.1ms
+  task_specific_sample: mean=571.1ms, total=571.1ms, count=1, min=571.1ms, max=571.1ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=585.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:36:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:36:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:36:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:36:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:36:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:36:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:36:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000285m	[env.py: 870]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:36:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.92559462e-01  9.56818635e-02  2.84902172e-04] yaw=164.3deg	[env.py: 1019]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.08635840e-01  1.23819855e-01  2.84902172e-04] yaw=160.4deg	[env.py: 1019]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.25366438e-01  5.24402946e-01  2.84902172e-04] yaw=-179.9deg	[env.py: 1019]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:36:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.4ms	[env.py: 1075]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.096, 0.000)	[env.py: 1079]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg	[env.py: 1082]
+05/10 16:36:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:36:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:36:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:36:52 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:36:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:36:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:36:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:36:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:36:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.491s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:36:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.658[m] 92.845[deg]	[grasp_sample.py: 539]
+05/10 16:36:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:36:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:36:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:37:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:37:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:37:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:37:43 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:38:09 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:38:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:38:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:38:10 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:38:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:38:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:38:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:38:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.88s (batch: 4.24s, save: 9.64s)	[pipeline.py: 300]
+05/10 16:38:24 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
+  episode_total: mean=216.66s, total=216.66s, count=1, min=216664.8ms, max=216664.8ms
+  sensor_polling: mean=543.3ms, total=162.99s, count=300, min=454.8ms, max=1049.8ms
+  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9635.3ms, max=9635.3ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.6ms, max=107.7ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4241.1ms, max=4241.1ms
+  task_sampling: mean=463.6ms, total=463.6ms, count=1, min=463.6ms, max=463.6ms
+  task_specific_sample: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=424.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:38:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:38:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:38:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:38:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:38:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:38:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:38:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:38:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:38:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:38:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059077m	[env.py: 870]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:38:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:38:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96044894  0.13854304  0.05907726] yaw=159.7deg	[env.py: 1019]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8092134   0.23288278  0.05907726] yaw=165.7deg	[env.py: 1019]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65402102  0.63854977  0.05907726] yaw=-167.3deg	[env.py: 1019]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:38:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.6ms, total=297.6ms	[env.py: 1075]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.139, 0.059)	[env.py: 1079]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
+05/10 16:38:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/10 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:38:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:38:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:38:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:38:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:38:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:38:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:38:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:38:27 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.379[m] 83.896[deg]	[grasp_sample.py: 539]
+05/10 16:38:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:38:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:38:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:38:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:38:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:38:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:38:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:38:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:38:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:38:32 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:38:32 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.839[deg]	[grasp_sample.py: 539]
+05/10 16:38:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:38:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:38:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:38:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:38:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:38:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 12.90s (batch: 4.17s, save: 8.73s)	[pipeline.py: 300]
+05/10 16:38:45 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
+  episode_total: mean=206.52s, total=206.52s, count=1, min=206517.8ms, max=206517.8ms
+  sensor_polling: mean=525.9ms, total=157.76s, count=300, min=437.1ms, max=1033.0ms
+  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8727.0ms, max=8727.0ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.5ms, max=64.6ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.9ms, max=4169.9ms
+  task_sampling: mean=422.7ms, total=422.7ms, count=1, min=422.7ms, max=422.7ms
+  task_specific_sample: mean=418.8ms, total=418.8ms, count=1, min=418.8ms, max=418.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=443.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:38:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:38:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:38:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:38:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:38:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:38:46 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:38:46 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.835[deg]	[grasp_sample.py: 539]
+05/10 16:38:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:38:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:38:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:38:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:38:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:38:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:38:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087057m	[env.py: 870]
+05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:38:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03185565  0.12402814  0.08705666] yaw=150.6deg	[env.py: 1019]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87424363  0.23141484  0.08705666] yaw=163.9deg	[env.py: 1019]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10707826  0.96938523  0.08705666] yaw=-134.9deg	[env.py: 1019]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:38:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.0ms	[env.py: 1075]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.032, 0.124, 0.087)	[env.py: 1079]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg	[env.py: 1082]
+05/10 16:38:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/10 16:38:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:38:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:38:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:38:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:38:47 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:38:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:38:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:38:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:38:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:38:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:38:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:38:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:38:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:38:48 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.321[m] 91.371[deg]	[grasp_sample.py: 539]
+05/10 16:38:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:38:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:38:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:38:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:38:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:38:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:38:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:38:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:38:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:38:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.835[deg]	[grasp_sample.py: 539]
+05/10 16:39:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:39:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:39:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:39:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:39:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:39:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 16:39:17 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 16:39:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.51s:
+  episode_total: mean=172.24s, total=172.24s, count=1, min=172241.0ms, max=172241.0ms
+  sensor_polling: mean=532.7ms, total=120.40s, count=226, min=444.5ms, max=1037.2ms
+  physics_step: mean=26.1ms, total=5.90s, count=226, min=13.3ms, max=87.0ms
+  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
+  task_specific_sample: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=434.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:39:19 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/10 16:39:19 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/10 16:39:19 INFO: [Worker 0] Worker 0 completed house 1: 6/8 successful episodes	[pipeline.py: 1323]
+05/10 16:39:19 INFO: [Worker 0] [PROFILE] House 1 complete: 6/8 successful, 8 episodes, total_time=4970.21s
+  House averages:
+  episode_total: mean=149.78s, total=2696.06s, count=18, min=3428.9ms, max=222930.0ms
+  sensor_polling: mean=507.9ms, total=2058.98s, count=4054, min=382.2ms, max=1213.2ms
+  physics_step: mean=24.5ms, total=99.41s, count=4054, min=13.3ms, max=162.9ms
+  save_trajectories: mean=10.04s, total=60.22s, count=6, min=8445.7ms, max=11906.7ms
+  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3570.4ms, max=4692.7ms
+  task_sampling: mean=708.1ms, total=12.75s, count=18, min=369.4ms, max=4161.1ms
+  task_specific_sample: mean=511.3ms, total=9.20s, count=18, min=366.1ms, max=680.1ms
+  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
+  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
+  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
+  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
+  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
+  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
+  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  scene_randomize: mean=1.9ms, total=33.6ms, count=18, min=1.2ms, max=3.2ms
+  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=477.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 16:39:19 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 16:39:19 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4970.21s
+  Worker averages:
+  episode_total: mean=149.78s, total=2696.06s, count=18, min=3428.9ms, max=222930.0ms
+  sensor_polling: mean=507.9ms, total=2058.98s, count=4054, min=382.2ms, max=1213.2ms
+  physics_step: mean=24.5ms, total=99.41s, count=4054, min=13.3ms, max=162.9ms
+  save_trajectories: mean=10.04s, total=60.22s, count=6, min=8445.7ms, max=11906.7ms
+  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3570.4ms, max=4692.7ms
+  task_sampling: mean=708.1ms, total=12.75s, count=18, min=369.4ms, max=4161.1ms
+  task_specific_sample: mean=511.3ms, total=9.20s, count=18, min=366.1ms, max=680.1ms
+  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
+  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
+  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
+  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
+  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
+  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
+  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  scene_randomize: mean=1.9ms, total=33.6ms, count=18, min=1.2ms, max=3.2ms
+  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=477.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 16:39:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:39:22 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 16:39:22 INFO: Success count: 6, Total count: 8	[pipeline.py: 1491]
+05/10 16:39:22 INFO: Success rate: 75.00%	[pipeline.py: 1492]
+05/10 16:39:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:39:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:39:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:39:55 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:40:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:21 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:40:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:40:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:40:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:40:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:40:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:40:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:40:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:40:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:40:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.516[deg]	[grasp_sample.py: 539]
+05/10 16:40:33 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:40:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:40:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:40:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:40:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:40:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:40:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:40:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:40:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:40:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:40:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:40:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041345m	[env.py: 870]
+05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:40:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:40:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85176584  0.68373566  0.04134539] yaw=-157.9deg	[env.py: 1019]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.15906306  0.99968966  0.04134539] yaw=-139.8deg	[env.py: 1019]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68678011  0.18726651  0.04134539] yaw=162.8deg	[env.py: 1019]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:40:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=263.2ms, total=263.2ms	[env.py: 1075]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.684, 0.041)	[env.py: 1079]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg	[env.py: 1082]
+05/10 16:40:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m	[env.py: 1086]
+05/10 16:40:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:40:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:40:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:40:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:40:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:40:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:40:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:40:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:40:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:40:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:40:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:40:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.83s (batch: 4.31s, save: 9.52s)	[pipeline.py: 300]
+05/10 16:40:36 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
+  episode_total: mean=224.47s, total=224.47s, count=1, min=224474.0ms, max=224474.0ms
+  sensor_polling: mean=511.0ms, total=153.30s, count=300, min=437.9ms, max=897.6ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9523.6ms, max=9523.6ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.2ms, max=64.3ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.3ms, max=4310.3ms
+  task_sampling: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
+  task_specific_sample: mean=533.7ms, total=533.7ms, count=1, min=533.7ms, max=533.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=527.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:40:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:40:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.449[m] 88.317[deg]	[grasp_sample.py: 539]
+05/10 16:40:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:40:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:40:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:40:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:40:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:40:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:40:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:40:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:40:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:40:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045059m	[env.py: 870]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:40:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00141628  0.81506613  0.04505875] yaw=-163.7deg	[env.py: 1019]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70632328  0.59303034  0.04505875] yaw=-184.2deg	[env.py: 1019]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06203591  1.08307883  0.04505875] yaw=-133.3deg	[env.py: 1019]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:40:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.3ms	[env.py: 1075]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.815, 0.045)	[env.py: 1079]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.7 deg	[env.py: 1082]
+05/10 16:40:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.776m	[env.py: 1086]
+05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:40:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:40:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:40:38 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:40:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.164s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:40:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:40:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:40:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.195s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:40:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.218s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:40:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.321[m] 78.504[deg]	[grasp_sample.py: 539]
+05/10 16:40:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:40:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:40:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:40:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:40:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:40:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:40:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:40:52 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.956s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:40:52 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.025[m] 3.367[deg]	[grasp_sample.py: 539]
+05/10 16:40:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:40:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:40:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:40:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:41:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:41:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:41:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:41:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:41:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:41:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:41:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:41:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:41:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:41:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:41:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:41:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:41:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:41:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:41:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:41:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:41:33 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:41:33 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.033[m] 12.299[deg]	[grasp_sample.py: 539]
+05/10 16:41:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:41:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:41:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:41:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:41:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:41:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:41:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:42:15 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:42:39 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:42:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:42:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:42:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:42:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:42:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 16.38s (batch: 4.83s, save: 11.54s)	[pipeline.py: 300]
+05/10 16:42:56 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
+  episode_total: mean=250.00s, total=250.00s, count=1, min=249998.5ms, max=249998.5ms
+  sensor_polling: mean=514.7ms, total=154.40s, count=300, min=451.2ms, max=806.9ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11542.9ms, max=11542.9ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=14.4ms, max=110.1ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4833.6ms, max=4833.6ms
+  task_sampling: mean=440.3ms, total=440.3ms, count=1, min=440.3ms, max=440.3ms
+  task_specific_sample: mean=436.7ms, total=436.7ms, count=1, min=436.7ms, max=436.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=417.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:42:58 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/10 16:42:58 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/10 16:42:58 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/10 16:42:58 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5383.37s
+  House averages:
+  episode_total: mean=162.09s, total=2917.55s, count=18, min=153.9ms, max=249998.5ms
+  sensor_polling: mean=509.5ms, total=2174.87s, count=4269, min=394.8ms, max=1033.0ms
+  physics_step: mean=25.0ms, total=106.73s, count=4269, min=13.7ms, max=110.1ms
+  save_trajectories: mean=9.68s, total=106.47s, count=11, min=8580.4ms, max=11542.9ms
+  save_batch_prep: mean=4.48s, total=49.27s, count=11, min=3992.2ms, max=5033.5ms
+  task_sampling: mean=689.7ms, total=11.72s, count=17, min=339.0ms, max=4591.1ms
+  task_specific_sample: mean=445.6ms, total=8.02s, count=18, min=148.7ms, max=800.3ms
+  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
+  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
+  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
+  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
+  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
+  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
+  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
+  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.6ms
+  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  mj_forward_sync: mean=479.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 16:42:58 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 16:42:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5383.37s
+  Worker averages:
+  episode_total: mean=162.09s, total=2917.55s, count=18, min=153.9ms, max=249998.5ms
+  sensor_polling: mean=509.5ms, total=2174.87s, count=4269, min=394.8ms, max=1033.0ms
+  physics_step: mean=25.0ms, total=106.73s, count=4269, min=13.7ms, max=110.1ms
+  save_trajectories: mean=9.68s, total=106.47s, count=11, min=8580.4ms, max=11542.9ms
+  save_batch_prep: mean=4.48s, total=49.27s, count=11, min=3992.2ms, max=5033.5ms
+  task_sampling: mean=689.7ms, total=11.72s, count=17, min=339.0ms, max=4591.1ms
+  task_specific_sample: mean=445.6ms, total=8.02s, count=18, min=148.7ms, max=800.3ms
+  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
+  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
+  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
+  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
+  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
+  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
+  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
+  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.6ms
+  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  mj_forward_sync: mean=479.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 16:43:01 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 16:43:01 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/10 16:43:01 INFO: Success rate: 91.67%	[pipeline.py: 1492]
+05/10 16:43:12 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:43:12 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:43:37 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:43:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:43:37 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/10 16:43:38 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:43:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:43:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:43:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:43:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:43:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.20s (batch: 3.82s, save: 9.38s)	[pipeline.py: 300]
+05/10 16:43:51 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
+  episode_total: mean=193.40s, total=193.40s, count=1, min=193402.8ms, max=193402.8ms
+  sensor_polling: mean=500.3ms, total=142.08s, count=284, min=445.4ms, max=998.5ms
+  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9380.3ms, max=9380.3ms
+  physics_step: mean=23.8ms, total=6.76s, count=284, min=18.9ms, max=56.1ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3815.2ms, max=3815.2ms
+  task_sampling: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms
+  task_specific_sample: mean=511.5ms, total=511.5ms, count=1, min=511.5ms, max=511.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=533.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:43:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:43:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:43:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 14.95s (batch: 3.97s, save: 10.98s)	[pipeline.py: 300]
+05/10 16:43:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:43:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:43:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:43:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:43:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:43:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:43:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:43:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:43:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:43:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:43:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067842m	[env.py: 870]
+05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:43:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:43:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:43:54 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.15s:
+  episode_total: mean=163.19s, total=326.38s, count=2, min=127269.5ms, max=199110.8ms
+  sensor_polling: mean=500.1ms, total=247.07s, count=494, min=431.0ms, max=1005.3ms
+  physics_step: mean=23.4ms, total=11.54s, count=494, min=18.2ms, max=72.8ms
+  save_trajectories: mean=10.98s, total=10.98s, count=1, min=10976.6ms, max=10976.6ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3968.8ms, max=3968.8ms
+  task_sampling: mean=574.1ms, total=1.15s, count=2, min=534.7ms, max=613.4ms
+  task_specific_sample: mean=570.3ms, total=1.14s, count=2, min=531.2ms, max=609.5ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.6ms, max=2.8ms
+  mj_forward_sync: mean=475.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73205294  0.98727887  0.06784189] yaw=-151.3deg	[env.py: 1019]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8019243   0.05748398  0.06784189] yaw=164.8deg	[env.py: 1019]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65465169  0.49916039  0.06784189] yaw=-172.0deg	[env.py: 1019]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:43:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.4ms, total=383.5ms	[env.py: 1075]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.987, 0.068)	[env.py: 1079]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg	[env.py: 1082]
+05/10 16:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/10 16:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:43:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:43:54 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:43:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:43:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:43:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:43:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:43:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:43:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:43:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:43:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:43:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:43:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:43:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:43:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076468m	[env.py: 870]
+05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:43:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:43:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73852368  0.08414553  0.07646764] yaw=146.8deg	[env.py: 1019]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75229438  0.04970072  0.07646764] yaw=157.4deg	[env.py: 1019]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79743098  0.1083238   0.07646764] yaw=159.9deg	[env.py: 1019]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:43:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.0ms	[env.py: 1075]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.084, 0.076)	[env.py: 1079]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.8 deg	[env.py: 1082]
+05/10 16:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/10 16:43:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:43:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:43:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:43:56 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:43:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:43:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:43:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:43:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:43:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.858s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:43:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.655[m] 100.476[deg]	[grasp_sample.py: 539]
+05/10 16:43:59 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:43:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.773s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:43:59 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.680[m] 87.312[deg]	[grasp_sample.py: 539]
+05/10 16:43:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:44:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:44:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:44:01 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/10 16:44:01 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/10 16:44:01 INFO: [Worker 0] Worker 0 completed house 1: 8/10 successful episodes	[pipeline.py: 1323]
+05/10 16:44:01 INFO: [Worker 0] [PROFILE] House 1 complete: 8/10 successful, 10 episodes, total_time=5436.15s
+  House averages:
+  episode_total: mean=165.44s, total=2977.95s, count=18, min=3258.6ms, max=237928.0ms
+  sensor_polling: mean=504.8ms, total=2202.92s, count=4364, min=381.0ms, max=1179.4ms
+  physics_step: mean=24.9ms, total=108.85s, count=4364, min=12.1ms, max=132.3ms
+  save_trajectories: mean=9.84s, total=78.73s, count=8, min=8529.1ms, max=12326.7ms
+  save_batch_prep: mean=4.60s, total=36.77s, count=8, min=3968.8ms, max=5399.2ms
+  task_sampling: mean=734.6ms, total=13.22s, count=18, min=362.6ms, max=4414.0ms
+  task_specific_sample: mean=525.7ms, total=9.46s, count=18, min=358.0ms, max=899.4ms
+  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
+  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
+  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
+  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
+  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.3ms, max=3.1ms
+  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
+  mj_forward_sync: mean=474.6us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=23.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 16:44:01 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 16:44:01 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5436.15s
+  Worker averages:
+  episode_total: mean=165.44s, total=2977.95s, count=18, min=3258.6ms, max=237928.0ms
+  sensor_polling: mean=504.8ms, total=2202.92s, count=4364, min=381.0ms, max=1179.4ms
+  physics_step: mean=24.9ms, total=108.85s, count=4364, min=12.1ms, max=132.3ms
+  save_trajectories: mean=9.84s, total=78.73s, count=8, min=8529.1ms, max=12326.7ms
+  save_batch_prep: mean=4.60s, total=36.77s, count=8, min=3968.8ms, max=5399.2ms
+  task_sampling: mean=734.6ms, total=13.22s, count=18, min=362.6ms, max=4414.0ms
+  task_specific_sample: mean=525.7ms, total=9.46s, count=18, min=358.0ms, max=899.4ms
+  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
+  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
+  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
+  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
+  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.3ms, max=3.1ms
+  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
+  mj_forward_sync: mean=474.6us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=23.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 16:44:03 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 16:44:03 INFO: Success count: 8, Total count: 10	[pipeline.py: 1491]
+05/10 16:44:03 INFO: Success rate: 80.00%	[pipeline.py: 1492]
+05/10 16:45:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:45:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:45:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:46:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:46:52 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:46:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:46:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:47:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:47:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:47:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.04s (batch: 4.77s, save: 8.27s)	[pipeline.py: 300]
+05/10 16:47:06 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.74s:
+  episode_total: mean=192.61s, total=192.61s, count=1, min=192606.6ms, max=192606.6ms
+  sensor_polling: mean=467.2ms, total=140.17s, count=300, min=402.3ms, max=959.9ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8273.6ms, max=8273.6ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=14.1ms, max=49.9ms
+  save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4769.0ms, max=4769.0ms
+  task_sampling: mean=743.7ms, total=743.7ms, count=1, min=743.7ms, max=743.7ms
+  task_specific_sample: mean=733.0ms, total=733.0ms, count=1, min=733.0ms, max=733.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=388.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:47:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:47:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:47:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:47:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:47:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:47:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:47:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032079m	[env.py: 870]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:47:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82303894  0.95346006  0.0320795 ] yaw=-162.4deg	[env.py: 1019]
+05/10 16:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70354347  0.79384768  0.0320795 ] yaw=-161.5deg	[env.py: 1019]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83626108  0.88553767  0.0320795 ] yaw=-165.6deg	[env.py: 1019]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:47:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.9ms, total=254.9ms	[env.py: 1075]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.953, 0.032)	[env.py: 1079]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg	[env.py: 1082]
+05/10 16:47:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/10 16:47:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:47:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:47:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:47:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:47:08 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:47:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:47:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:47:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:47:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:47:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:47:12 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.604[m] 87.373[deg]	[grasp_sample.py: 539]
+05/10 16:47:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:47:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:47:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:48:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:48:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:48:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:49:42 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:50:07 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_003	[pipeline.py: 1174]
+05/10 16:50:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:50:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:50:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:50:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003	[save_utils.py: 785]
+05/10 16:50:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_003 in 13.21s (batch: 3.97s, save: 9.24s)	[pipeline.py: 300]
+05/10 16:50:21 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.57s:
+  episode_total: mean=193.22s, total=193.22s, count=1, min=193224.1ms, max=193224.1ms
+  sensor_polling: mean=469.1ms, total=140.72s, count=300, min=407.9ms, max=1029.1ms
+  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9238.8ms, max=9238.8ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=17.1ms, max=60.8ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3972.9ms, max=3972.9ms
+  task_sampling: mean=566.1ms, total=566.1ms, count=1, min=566.1ms, max=566.1ms
+  task_specific_sample: mean=562.6ms, total=562.6ms, count=1, min=562.6ms, max=562.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=378.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:50:22 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/10 16:50:22 WARNING: [Worker 0] No trajectory data to save for chunk_003	[pipeline.py: 234]
+05/10 16:50:22 INFO: [Worker 0] Worker 0 completed house 1: 13/16 successful episodes	[pipeline.py: 1323]
+05/10 16:50:22 INFO: [Worker 0] [PROFILE] House 1 complete: 13/16 successful, 16 episodes, total_time=6205.07s
+  House averages:
+  episode_total: mean=186.63s, total=3359.42s, count=18, min=3358.9ms, max=224474.0ms
+  sensor_polling: mean=498.9ms, total=2508.37s, count=5028, min=384.1ms, max=1121.7ms
+  save_trajectories: mean=9.60s, total=124.77s, count=13, min=8151.1ms, max=11641.7ms
+  physics_step: mean=24.1ms, total=121.40s, count=5028, min=12.4ms, max=114.5ms
+  save_batch_prep: mean=4.34s, total=56.42s, count=13, min=3617.7ms, max=5736.0ms
+  task_sampling: mean=806.6ms, total=14.52s, count=18, min=345.2ms, max=5124.4ms
+  task_specific_sample: mean=554.3ms, total=9.98s, count=18, min=341.2ms, max=782.7ms
+  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
+  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
+  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
+  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
+  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
+  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
+  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
+  mj_forward_sync: mean=506.5us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  policy_setup: mean=21.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 16:50:22 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 16:50:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=6205.07s
+  Worker averages:
+  episode_total: mean=186.63s, total=3359.42s, count=18, min=3358.9ms, max=224474.0ms
+  sensor_polling: mean=498.9ms, total=2508.37s, count=5028, min=384.1ms, max=1121.7ms
+  save_trajectories: mean=9.60s, total=124.77s, count=13, min=8151.1ms, max=11641.7ms
+  physics_step: mean=24.1ms, total=121.40s, count=5028, min=12.4ms, max=114.5ms
+  save_batch_prep: mean=4.34s, total=56.42s, count=13, min=3617.7ms, max=5736.0ms
+  task_sampling: mean=806.6ms, total=14.52s, count=18, min=345.2ms, max=5124.4ms
+  task_specific_sample: mean=554.3ms, total=9.98s, count=18, min=341.2ms, max=782.7ms
+  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
+  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
+  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
+  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
+  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
+  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
+  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
+  mj_forward_sync: mean=506.5us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  policy_setup: mean=21.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 16:50:25 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 16:50:25 INFO: Success count: 13, Total count: 16	[pipeline.py: 1491]
+05/10 16:50:25 INFO: Success rate: 81.25%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_003/shard_1_of_4.log b/fridge_7/chunk_003/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..03479c8f32a458c4fffc99a2b70325c1546fe16d
--- /dev/null
+++ b/fridge_7/chunk_003/shard_1_of_4.log
@@ -0,0 +1,1917 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_003
+  shard=1/4  seed=20301  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:53:51 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 15:53:51 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 15:53:51 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_003'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 15:53:51 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x77b126b02810>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20301,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:53:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 15:53:51 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 15:53:51 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 131602738908688 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 131602738908688 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 131602738908688 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 131602738908688 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 131602742735312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 131602742735312 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 131602742737424 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 131602742737424 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 131602742737424 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 131602742737424 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 131602742735312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 131602742735312 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 131602738939472 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 131602738939472 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 131602738944016 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 131602738944016 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 131602738944016 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 131602738944016 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 131602738939472 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 131602738939472 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 15:53:51 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 6297d1515e50 at 0x77b126efb510>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6297d15175e0 at 0x77b126955790>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6297d15175e0 at 0x77b126e8cb50>
+[05/10 15:53:55 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:53:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 15:53:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:53:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:53:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073915m
+[05/10 15:53:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:53:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 15:53:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78839704  0.16034585  0.07391536] yaw=169.5deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89913076  0.09778134  0.07391536] yaw=159.0deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:53:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:53:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=21.1ms, retries=422.8ms, total=443.9ms
+[05/10 15:53:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.788, 0.160, 0.074)
+[05/10 15:53:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.5 deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.969m
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:53:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:53:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 15:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 26.181s
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.512[m] 86.236[deg]
+[05/10 15:54:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:55:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:56:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:56:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:56:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:56:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:56:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps
+[05/10 15:56:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.616s, found feasible grasp: True
+[05/10 15:56:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.528[deg]
+[05/10 15:56:54 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 15:56:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:56:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:56:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:56:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:56:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:56:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:56:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:56:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:56:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:56:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:56:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
+[05/10 15:56:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:56:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:56:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047529m
+[05/10 15:56:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:56:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:56:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:56:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:56:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0103787   0.14147697  0.04752874] yaw=147.0deg
+[05/10 15:56:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:56:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:56:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67005513  0.68408673  0.04752874] yaw=-173.2deg
+[05/10 15:56:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:56:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.63464432  0.4488523   0.04752874] yaw=186.7deg
+[05/10 15:56:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:56:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:56:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.4ms, total=163.4ms
+[05/10 15:56:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.010, 0.141, 0.048)
+[05/10 15:56:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 147.0 deg
+[05/10 15:56:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.771m
+[05/10 15:56:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:56:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:56:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:56:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:56:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:56:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 15:56:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 15:56:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:56:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:56:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 15:56:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.964s, found feasible grasp: True
+[05/10 15:56:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.317[m] 89.231[deg]
+[05/10 15:56:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:56:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:56:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:57:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:57:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:58:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:58:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:58:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:58:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:58:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:58:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:58:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:58:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:58:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:58:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:58:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:58:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:58:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:58:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:58:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:58:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:58:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 84 non-colliding grasps
+[05/10 15:58:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.427s, found feasible grasp: True
+[05/10 15:58:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.843[deg]
+[05/10 15:58:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:58:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:58:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
+[05/10 15:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 15:58:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:58:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:58:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 84 non-colliding grasps
+[05/10 15:58:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.433s, found feasible grasp: True
+[05/10 15:58:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.847[deg]
+[05/10 15:58:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:58:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:58:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:58:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:10
+[05/10 15:58:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:58:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 15:58:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:58:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:58:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 84 non-colliding grasps
+[05/10 15:58:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.578s, found feasible grasp: True
+[05/10 15:58:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.024[m] 1.852[deg]
+[05/10 15:58:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:58:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:58:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:58:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:58:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:58:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:58:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:58:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:59:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:59:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:59:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:59:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:59:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:59:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:59:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:59:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:59:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:59:39 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 15:59:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=False
+[05/10 15:59:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=False episode_total=4.82s:
+  episode_total: mean=173.04s, total=346.07s, count=2, min=162915.0ms, max=183158.0ms
+  sensor_polling: mean=459.9ms, total=231.79s, count=504, min=387.6ms, max=767.3ms
+  physics_step: mean=21.7ms, total=10.95s, count=504, min=12.1ms, max=52.3ms
+  task_sampling: mean=2.41s, total=4.82s, count=2, min=408.5ms, max=4414.0ms
+  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
+  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
+  task_specific_sample: mean=561.6ms, total=1.12s, count=2, min=405.7ms, max=717.4ms
+  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
+  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
+  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.3ms, max=1.4ms
+  mj_forward_sync: mean=471.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=39.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:59:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:59:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:59:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:59:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:59:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:59:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:59:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 15:59:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:59:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:59:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.086876m
+[05/10 15:59:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:59:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:59:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63535749  0.48968607  0.08687604] yaw=-188.4deg
+[05/10 15:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95212852  0.84260933  0.08687604] yaw=-160.5deg
+[05/10 15:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:59:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:59:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96779893  1.26754875  0.08687604] yaw=-130.9deg
+[05/10 15:59:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:59:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:59:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.4ms, total=201.4ms
+[05/10 15:59:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.635, 0.490, 0.087)
+[05/10 15:59:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -188.4 deg
+[05/10 15:59:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
+[05/10 15:59:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:59:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:59:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:59:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:59:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:59:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 15:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
+[05/10 15:59:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:59:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:59:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 15:59:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.854s, found feasible grasp: True
+[05/10 15:59:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.632[m] 94.196[deg]
+[05/10 15:59:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:00:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:00:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:00:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:02:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 16:02:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:02:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
+[05/10 16:02:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:02:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 16:02:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:02:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.76s (batch: 5.03s, save: 8.74s)
+[05/10 16:02:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
+  episode_total: mean=183.39s, total=183.39s, count=1, min=183392.8ms, max=183392.8ms
+  sensor_polling: mean=447.9ms, total=134.36s, count=300, min=381.0ms, max=851.3ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.2ms, max=8735.2ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=13.5ms, max=46.7ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5027.5ms, max=5027.5ms
+  task_sampling: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
+  task_specific_sample: mean=431.3ms, total=431.3ms, count=1, min=431.3ms, max=431.3ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=530.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:02:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:02:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:02:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:02:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:02:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:02:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:02:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:02:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:02:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:02:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:02:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/10 16:02:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:02:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:02:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023268m
+[05/10 16:02:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:02:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:02:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:02:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:02:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.17093583  1.12033653  0.02326751] yaw=-125.2deg
+[05/10 16:02:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:02:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:02:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87603599  0.51231362  0.02326751] yaw=-186.5deg
+[05/10 16:02:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:02:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93977958  0.28282892  0.02326751] yaw=158.1deg
+[05/10 16:02:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:02:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:02:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=114.1ms, total=114.1ms
+[05/10 16:02:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.171, 1.120, 0.023)
+[05/10 16:02:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -125.2 deg
+[05/10 16:02:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.831m
+[05/10 16:02:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:02:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:02:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:02:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:02:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:02:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 16:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 16:02:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:02:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:02:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 16:02:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.617s, found feasible grasp: True
+[05/10 16:02:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.457[m] 98.062[deg]
+[05/10 16:02:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:02:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:02:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:03:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:03:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:03:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:05:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:05:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:05:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:05:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:05:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:05:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 78 non-colliding grasps
+[05/10 16:05:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.710s, found feasible grasp: True
+[05/10 16:05:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.103[m] 1.690[deg]
+[05/10 16:05:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:05:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:05:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:05:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:05:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:05:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:05:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:05:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:05:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:05:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:05:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:05:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 16:05:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:05:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:05:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053166m
+[05/10 16:05:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:05:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:05:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:05:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82456827  0.32426179  0.05316647] yaw=170.0deg
+[05/10 16:05:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:05:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:05:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:05:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:05:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:05:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95649813  1.25746543  0.05316647] yaw=-132.9deg
+[05/10 16:05:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:05:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87786105  0.39668181  0.05316647] yaw=184.9deg
+[05/10 16:05:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:05:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:05:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=196.0ms, total=196.1ms
+[05/10 16:05:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.825, 0.324, 0.053)
+[05/10 16:05:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg
+[05/10 16:05:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
+[05/10 16:05:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:05:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:05:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:05:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:05:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 16:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
+[05/10 16:05:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:05:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:05:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 16:05:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True
+[05/10 16:05:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.432[m] 88.458[deg]
+[05/10 16:05:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:05:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:05:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:06:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:06:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:08:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:08:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:08:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
+[05/10 16:08:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:09:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:09:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:09:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 17.73s (batch: 5.40s, save: 12.33s)
+[05/10 16:09:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.85s:
+  episode_total: mean=190.74s, total=381.49s, count=2, min=154903.3ms, max=226584.4ms
+  sensor_polling: mean=506.6ms, total=281.66s, count=556, min=397.9ms, max=946.8ms
+  physics_step: mean=25.5ms, total=14.16s, count=556, min=14.0ms, max=74.8ms
+  save_trajectories: mean=12.33s, total=12.33s, count=1, min=12326.7ms, max=12326.7ms
+  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5399.2ms, max=5399.2ms
+  task_sampling: mean=425.7ms, total=851.5ms, count=2, min=362.6ms, max=488.9ms
+  task_specific_sample: mean=421.6ms, total=843.2ms, count=2, min=358.0ms, max=485.2ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.7ms, max=3.1ms
+  mj_forward_sync: mean=580.7us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:09:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:09:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:09:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:09:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:09:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:09:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:09:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:09:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:09:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:09:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 16:09:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:09:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:09:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020984m
+[05/10 16:09:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:09:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:09:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:09:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:09:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64850925  0.20567394  0.02098371] yaw=175.3deg
+[05/10 16:09:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:09:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77885999  0.79695431  0.02098371] yaw=-171.4deg
+[05/10 16:09:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:09:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90969762  0.76294588  0.02098371] yaw=-158.0deg
+[05/10 16:09:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:09:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:09:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.5ms
+[05/10 16:09:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.649, 0.206, 0.021)
+[05/10 16:09:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg
+[05/10 16:09:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.089m
+[05/10 16:09:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:09:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:09:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:09:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:09:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 16:09:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 16:09:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:09:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:09:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 16:09:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.173s, found feasible grasp: True
+[05/10 16:09:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.630[m] 81.530[deg]
+[05/10 16:09:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:10:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:12:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:12:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:12:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
+[05/10 16:12:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:12:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:12:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:12:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.24s (batch: 4.40s, save: 8.83s)
+[05/10 16:12:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.45s:
+  episode_total: mean=212.07s, total=212.07s, count=1, min=212067.6ms, max=212067.6ms
+  sensor_polling: mean=520.6ms, total=156.17s, count=300, min=447.3ms, max=935.7ms
+  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8831.2ms, max=8831.2ms
+  physics_step: mean=27.3ms, total=8.20s, count=300, min=15.9ms, max=132.3ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4404.0ms, max=4404.0ms
+  task_sampling: mean=450.5ms, total=450.5ms, count=1, min=450.5ms, max=450.5ms
+  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=412.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:12:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:12:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:12:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:12:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:12:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:12:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:12:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:12:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:12:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:12:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:12:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
+[05/10 16:12:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:12:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:12:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083230m
+[05/10 16:12:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:12:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:12:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:12:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86995707  0.37200679  0.08322995] yaw=175.8deg
+[05/10 16:12:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02365657  1.33294457  0.08322995] yaw=-134.3deg
+[05/10 16:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:12:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:12:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.13155728  1.1543769   0.08322995] yaw=-139.8deg
+[05/10 16:12:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:12:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:12:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.2ms
+[05/10 16:12:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.372, 0.083)
+[05/10 16:12:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg
+[05/10 16:12:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.840m
+[05/10 16:12:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:12:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:12:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:12:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:12:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:12:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 16:12:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 16:12:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:12:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:12:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 16:12:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.490s, found feasible grasp: True
+[05/10 16:12:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.369[m] 88.727[deg]
+[05/10 16:12:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:13:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:13:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:14:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:14:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:14:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:14:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:14:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:14:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:14:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:14:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.132s, found 78 non-colliding grasps
+[05/10 16:14:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.522s, found feasible grasp: True
+[05/10 16:14:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.646[deg]
+[05/10 16:15:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:15:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:15:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:15:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:15:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:15:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:15:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:15:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:15:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:15:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:15:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:15:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
+[05/10 16:15:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:15:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:15:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064119m
+[05/10 16:15:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:15:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:15:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:15:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93933415  0.25713024  0.06411899] yaw=158.7deg
+[05/10 16:15:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:15:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:15:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:15:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67401222  0.48816854  0.06411899] yaw=-168.4deg
+[05/10 16:15:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:15:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97974758  1.25713964  0.06411899] yaw=-126.5deg
+[05/10 16:15:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:15:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:15:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.6ms, total=277.7ms
+[05/10 16:15:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.257, 0.064)
+[05/10 16:15:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg
+[05/10 16:15:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.795m
+[05/10 16:15:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:15:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:15:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:15:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:15:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:15:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 16:15:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 16:15:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:15:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:15:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps
+[05/10 16:15:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.965s, found feasible grasp: True
+[05/10 16:15:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.358[m] 88.824[deg]
+[05/10 16:15:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:15:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:15:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:15:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:15:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:15:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:16:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:16:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:16:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:16:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:16:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:16:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:16:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:16:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:16:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:16:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:16:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/10 16:16:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.468s, found feasible grasp: True
+[05/10 16:16:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.512[deg]
+[05/10 16:16:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:16:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:16:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:16:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:16:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:16:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:16:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:17:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:17:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:17:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:17:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:17:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
+[05/10 16:17:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.480s, found feasible grasp: True
+[05/10 16:17:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]
+[05/10 16:17:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:17:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:17:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:17:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:17:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:17:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 16:17:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:17:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:17:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
+[05/10 16:17:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.472s, found feasible grasp: True
+[05/10 16:17:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.510[deg]
+[05/10 16:17:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:17:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:17:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:17:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:17:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:17:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:17:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 16:17:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=False
+[05/10 16:17:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=False episode_total=1.09s:
+  episode_total: mean=144.74s, total=289.48s, count=2, min=135463.7ms, max=154020.2ms
+  sensor_polling: mean=519.1ms, total=214.89s, count=414, min=442.8ms, max=1179.4ms
+  physics_step: mean=25.9ms, total=10.71s, count=414, min=13.3ms, max=75.8ms
+  task_sampling: mean=542.9ms, total=1.09s, count=2, min=520.4ms, max=565.3ms
+  task_specific_sample: mean=539.0ms, total=1.08s, count=2, min=516.4ms, max=561.5ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.7ms
+  mj_forward_sync: mean=496.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=30.6us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:17:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:17:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:17:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:17:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:17:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:17:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:17:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:17:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:17:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:17:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:17:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
+[05/10 16:17:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:17:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:17:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059648m
+[05/10 16:17:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:17:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:17:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:17:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89258879  1.13693941  0.0596475 ] yaw=-136.5deg
+[05/10 16:17:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:17:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77685847  0.40315249  0.0596475 ] yaw=178.8deg
+[05/10 16:17:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:17:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74934075  0.92279278  0.0596475 ] yaw=-165.0deg
+[05/10 16:17:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:17:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:17:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.5ms, total=95.5ms
+[05/10 16:17:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 1.137, 0.060)
+[05/10 16:17:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.5 deg
+[05/10 16:17:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.041m
+[05/10 16:17:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:17:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:17:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:17:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:17:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:17:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 16:17:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
+[05/10 16:17:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:17:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:17:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 16:17:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.793s, found feasible grasp: True
+[05/10 16:17:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.651[m] 88.198[deg]
+[05/10 16:17:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:19:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:20:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:20:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:20:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:20:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:20:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:20:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:20:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:20:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
+[05/10 16:20:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.916s, found feasible grasp: False
+[05/10 16:20:39 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 16:20:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:20:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:20:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:20:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:20:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:20:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:20:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:20:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:20:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:20:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:20:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
+[05/10 16:20:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:20:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:20:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078665m
+[05/10 16:20:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:20:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:20:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:20:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76230967  0.16982757  0.07866528] yaw=171.6deg
+[05/10 16:20:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:20:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 96.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9976375   0.75506318  0.07866528] yaw=-149.6deg
+[05/10 16:20:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:20:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79286703  0.69471688  0.07866528] yaw=-155.5deg
+[05/10 16:20:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:20:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:20:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=512.2ms, total=512.2ms
+[05/10 16:20:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.170, 0.079)
+[05/10 16:20:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg
+[05/10 16:20:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.991m
+[05/10 16:20:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:20:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:20:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:20:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:20:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:20:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 16:20:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.110s
+[05/10 16:20:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:20:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:20:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 16:20:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.054s, found feasible grasp: True
+[05/10 16:20:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.560[m] 97.153[deg]
+[05/10 16:20:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:20:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:20:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:23:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:23:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:23:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:23:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:23:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:23:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:23:48 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:23:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:23:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:23:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
+[05/10 16:23:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.460s, found feasible grasp: True
+[05/10 16:23:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.992[deg]
+[05/10 16:23:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:23:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:23:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:23:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:23:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:23:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:23:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:23:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:23:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:23:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:23:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:23:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 16:23:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:23:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:23:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073540m
+[05/10 16:23:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:23:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:23:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:23:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86593892  0.30653598  0.07354029] yaw=157.0deg
+[05/10 16:23:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:23:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91058476  0.33824859  0.07354029] yaw=163.7deg
+[05/10 16:23:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:23:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.84284844  0.10147941  0.07354029] yaw=154.5deg
+[05/10 16:23:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:23:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:23:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.1ms, total=272.2ms
+[05/10 16:23:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.866, 0.307, 0.074)
+[05/10 16:23:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.0 deg
+[05/10 16:23:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.855m
+[05/10 16:23:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:23:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:23:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:23:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:23:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:23:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 16:23:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.112s
+[05/10 16:23:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:23:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:23:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 16:23:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True
+[05/10 16:23:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.398[m] 85.289[deg]
+[05/10 16:23:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:23:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:23:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:24:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:24:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:24:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:26:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:26:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:26:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:26:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:26:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:26:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:26:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:26:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:26:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:26:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:26:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:26:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps
+[05/10 16:26:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True
+[05/10 16:26:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.253[deg]
+[05/10 16:26:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:26:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:26:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:26:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:26:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:26:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:26:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:26:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:26:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:26:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:26:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:26:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
+[05/10 16:26:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.380s, found feasible grasp: True
+[05/10 16:26:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.044[m] 1.034[deg]
+[05/10 16:26:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:26:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:26:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:26:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:26:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:26:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:26:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:26:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:26:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:27:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:27:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:27:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
+[05/10 16:27:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:27:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:27:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:27:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.70s (batch: 4.54s, save: 9.16s)
+[05/10 16:27:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.88s:
+  episode_total: mean=202.66s, total=607.98s, count=3, min=181017.1ms, max=237928.0ms
+  sensor_polling: mean=523.5ms, total=469.10s, count=896, min=448.3ms, max=1000.8ms
+  physics_step: mean=26.6ms, total=23.79s, count=896, min=14.0ms, max=72.2ms
+  save_trajectories: mean=9.16s, total=9.16s, count=1, min=9155.3ms, max=9155.3ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4541.9ms, max=4541.9ms
+  task_sampling: mean=625.3ms, total=1.88s, count=3, min=374.2ms, max=903.4ms
+  task_specific_sample: mean=621.7ms, total=1.87s, count=3, min=370.9ms, max=899.4ms
+  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.7ms
+  mj_forward_sync: mean=450.5us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 16:27:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:27:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:27:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:27:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:27:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:27:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:27:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:27:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:27:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:27:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:27:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 16:27:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:27:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:27:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034681m
+[05/10 16:27:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:27:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:27:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:27:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82143514  0.86155997  0.03468113] yaw=-167.5deg
+[05/10 16:27:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:27:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 97.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02534892  0.8238947   0.03468113] yaw=-151.2deg
+[05/10 16:27:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:27:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:27:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=366.3ms, total=366.3ms
+[05/10 16:27:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.862, 0.035)
+[05/10 16:27:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
+[05/10 16:27:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.959m
+[05/10 16:27:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:27:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:27:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:27:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:27:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:27:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 16:27:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
+[05/10 16:27:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:27:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:27:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 16:27:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True
+[05/10 16:27:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.167[deg]
+[05/10 16:27:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:28:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:28:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:28:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:30:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:30:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:30:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
+[05/10 16:30:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:31:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:31:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:31:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.85s (batch: 4.32s, save: 8.53s)
+[05/10 16:31:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s:
+  episode_total: mean=192.29s, total=192.29s, count=1, min=192291.6ms, max=192291.6ms
+  sensor_polling: mean=487.3ms, total=146.18s, count=300, min=451.8ms, max=877.0ms
+  save_trajectories: mean=8.53s, total=8.53s, count=1, min=8529.1ms, max=8529.1ms
+  physics_step: mean=22.3ms, total=6.69s, count=300, min=16.5ms, max=33.8ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4316.5ms, max=4316.5ms
+  task_sampling: mean=630.2ms, total=630.2ms, count=1, min=630.2ms, max=630.2ms
+  task_specific_sample: mean=626.3ms, total=626.3ms, count=1, min=626.3ms, max=626.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=456.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:31:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:31:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:31:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:31:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:31:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:31:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:31:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:31:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:31:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:31:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:31:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 16:31:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:31:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:31:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053351m
+[05/10 16:31:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:31:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:31:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:31:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00603416  1.17639771  0.05335137] yaw=-142.6deg
+[05/10 16:31:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:31:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82739183  0.05531599  0.05335137] yaw=147.9deg
+[05/10 16:31:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:31:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98438393  0.76016419  0.05335137] yaw=-161.0deg
+[05/10 16:31:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:31:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:31:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms
+[05/10 16:31:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.006, 1.176, 0.053)
+[05/10 16:31:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.6 deg
+[05/10 16:31:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
+[05/10 16:31:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:31:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:31:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:31:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:31:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:31:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 16:31:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 16:31:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:31:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:31:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 16:31:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.628s, found feasible grasp: True
+[05/10 16:31:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.580[m] 95.222[deg]
+[05/10 16:31:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:31:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:31:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:31:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:31:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:31:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:31:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:31:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:31:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:31:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:31:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/10 16:31:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:31:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:31:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022734m
+[05/10 16:31:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:31:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:31:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69013274  0.54954135  0.02273446] yaw=-180.8deg
+[05/10 16:31:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:31:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.83007082  1.1099447   0.02273446] yaw=-144.6deg
+[05/10 16:31:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:31:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:31:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=328.7ms, total=328.7ms
+[05/10 16:31:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.690, 0.550, 0.023)
+[05/10 16:31:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.8 deg
+[05/10 16:31:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
+[05/10 16:31:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:31:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:31:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:31:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:31:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:31:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 16:31:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 16:31:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:31:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:31:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 16:31:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.522s, found feasible grasp: True
+[05/10 16:31:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.530[m] 82.979[deg]
+[05/10 16:31:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:31:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:31:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:32:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:34:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:34:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:34:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
+[05/10 16:34:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:34:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:34:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:34:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.41s (batch: 4.87s, save: 10.54s)
+[05/10 16:34:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
+  episode_total: mean=109.27s, total=218.53s, count=2, min=3258.6ms, max=215276.3ms
+  sensor_polling: mean=529.1ms, total=158.72s, count=300, min=455.5ms, max=923.6ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.9ms, max=10538.9ms
+  physics_step: mean=26.9ms, total=8.08s, count=300, min=16.8ms, max=69.1ms
+  save_batch_prep: mean=4.87s, total=4.87s, count=1, min=4871.6ms, max=4871.6ms
+  task_sampling: mean=516.3ms, total=1.03s, count=2, min=428.5ms, max=604.1ms
+  task_specific_sample: mean=512.6ms, total=1.03s, count=2, min=424.3ms, max=600.9ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.3ms, max=2.9ms
+  mj_forward_sync: mean=452.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:34:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:34:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:34:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:34:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:34:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:34:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:34:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:34:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:34:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:34:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:34:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 16:34:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:34:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:34:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008207m
+[05/10 16:34:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:34:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:34:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:34:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91648021  0.77959016  0.00820717] yaw=-162.0deg
+[05/10 16:34:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:34:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:34:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:34:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:34:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:34:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87001708  0.99432572  0.00820717] yaw=-152.0deg
+[05/10 16:34:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:34:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80652679  0.72421969  0.00820717] yaw=-161.9deg
+[05/10 16:34:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:34:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:34:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=152.9ms, total=152.9ms
+[05/10 16:34:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.916, 0.780, 0.008)
+[05/10 16:34:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg
+[05/10 16:34:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.840m
+[05/10 16:34:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:34:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:34:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:34:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:34:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:34:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 16:34:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.109s
+[05/10 16:34:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:34:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:34:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.118s, found 88 non-colliding grasps
+[05/10 16:34:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.557s, found feasible grasp: True
+[05/10 16:34:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.423[m] 93.039[deg]
+[05/10 16:34:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:34:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:35:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:35:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:35:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:37:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:38:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:38:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
+[05/10 16:38:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:38:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:38:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:38:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.88s (batch: 4.24s, save: 9.64s)
+[05/10 16:38:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.46s:
+  episode_total: mean=216.66s, total=216.66s, count=1, min=216664.8ms, max=216664.8ms
+  sensor_polling: mean=543.3ms, total=162.99s, count=300, min=454.8ms, max=1049.8ms
+  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9635.3ms, max=9635.3ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=16.6ms, max=107.7ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4241.1ms, max=4241.1ms
+  task_sampling: mean=463.6ms, total=463.6ms, count=1, min=463.6ms, max=463.6ms
+  task_specific_sample: mean=459.6ms, total=459.6ms, count=1, min=459.6ms, max=459.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=424.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:38:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:38:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:38:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:38:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:38:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:38:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:38:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:38:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:38:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:38:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:38:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
+[05/10 16:38:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:38:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:38:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059077m
+[05/10 16:38:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:38:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:38:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:38:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:38:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:38:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:38:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:38:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:38:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96044894  0.13854304  0.05907726] yaw=159.7deg
+[05/10 16:38:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:38:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8092134   0.23288278  0.05907726] yaw=165.7deg
+[05/10 16:38:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:38:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65402102  0.63854977  0.05907726] yaw=-167.3deg
+[05/10 16:38:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:38:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:38:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=297.6ms, total=297.6ms
+[05/10 16:38:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.139, 0.059)
+[05/10 16:38:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg
+[05/10 16:38:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.818m
+[05/10 16:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:38:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:38:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:38:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 16:38:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 16:38:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:38:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:38:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 16:38:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.483s, found feasible grasp: True
+[05/10 16:38:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.379[m] 83.896[deg]
+[05/10 16:38:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:38:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:39:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:39:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:40:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:40:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:40:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:40:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:40:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:40:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:40:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:40:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:40:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:40:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:40:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 80 non-colliding grasps
+[05/10 16:40:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.434s, found feasible grasp: True
+[05/10 16:40:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.030[m] 0.516[deg]
+[05/10 16:40:33 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:40:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:40:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:40:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:40:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:40:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:40:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:40:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:40:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:40:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:40:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:40:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/10 16:40:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:40:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:40:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041345m
+[05/10 16:40:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:40:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:40:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:40:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:40:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85176584  0.68373566  0.04134539] yaw=-157.9deg
+[05/10 16:40:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:40:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:40:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:40:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:40:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.15906306  0.99968966  0.04134539] yaw=-139.8deg
+[05/10 16:40:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:40:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68678011  0.18726651  0.04134539] yaw=162.8deg
+[05/10 16:40:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:40:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:40:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=263.2ms, total=263.2ms
+[05/10 16:40:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.684, 0.041)
+[05/10 16:40:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.9 deg
+[05/10 16:40:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.874m
+[05/10 16:40:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:40:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:40:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:40:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:40:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:40:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 16:40:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 16:40:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:40:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:40:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps
+[05/10 16:40:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.012s, found feasible grasp: True
+[05/10 16:40:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.449[m] 88.317[deg]
+[05/10 16:40:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:40:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:40:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:43:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:43:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:43:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 1/4: 1 episodes
+[05/10 16:43:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:43:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:43:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:43:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.95s (batch: 3.97s, save: 10.98s)
+[05/10 16:43:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.15s:
+  episode_total: mean=163.19s, total=326.38s, count=2, min=127269.5ms, max=199110.8ms
+  sensor_polling: mean=500.1ms, total=247.07s, count=494, min=431.0ms, max=1005.3ms
+  physics_step: mean=23.4ms, total=11.54s, count=494, min=18.2ms, max=72.8ms
+  save_trajectories: mean=10.98s, total=10.98s, count=1, min=10976.6ms, max=10976.6ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3968.8ms, max=3968.8ms
+  task_sampling: mean=574.1ms, total=1.15s, count=2, min=534.7ms, max=613.4ms
+  task_specific_sample: mean=570.3ms, total=1.14s, count=2, min=531.2ms, max=609.5ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.6ms, max=2.8ms
+  mj_forward_sync: mean=475.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:43:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:43:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:43:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:43:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:43:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:43:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:43:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:43:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:43:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:43:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:43:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
+[05/10 16:43:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:43:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:43:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076468m
+[05/10 16:43:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:43:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:43:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:43:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:43:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:43:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:43:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73852368  0.08414553  0.07646764] yaw=146.8deg
+[05/10 16:43:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:43:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75229438  0.04970072  0.07646764] yaw=157.4deg
+[05/10 16:43:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:43:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79743098  0.1083238   0.07646764] yaw=159.9deg
+[05/10 16:43:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:43:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:43:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.0ms
+[05/10 16:43:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.084, 0.076)
+[05/10 16:43:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 146.8 deg
+[05/10 16:43:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.043m
+[05/10 16:43:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:43:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:43:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:43:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:43:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:43:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 16:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
+[05/10 16:43:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:43:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:43:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/10 16:43:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.858s, found feasible grasp: True
+[05/10 16:43:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.655[m] 100.476[deg]
+[05/10 16:43:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:44:01 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
+[05/10 16:44:01 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
+[05/10 16:44:01 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 8/10 successful episodes
+[05/10 16:44:01 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 8/10 successful, 10 episodes, total_time=5436.15s
+  House averages:
+  episode_total: mean=165.44s, total=2977.95s, count=18, min=3258.6ms, max=237928.0ms
+  sensor_polling: mean=504.8ms, total=2202.92s, count=4364, min=381.0ms, max=1179.4ms
+  physics_step: mean=24.9ms, total=108.85s, count=4364, min=12.1ms, max=132.3ms
+  save_trajectories: mean=9.84s, total=78.73s, count=8, min=8529.1ms, max=12326.7ms
+  save_batch_prep: mean=4.60s, total=36.77s, count=8, min=3968.8ms, max=5399.2ms
+  task_sampling: mean=734.6ms, total=13.22s, count=18, min=362.6ms, max=4414.0ms
+  task_specific_sample: mean=525.7ms, total=9.46s, count=18, min=358.0ms, max=899.4ms
+  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
+  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
+  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
+  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
+  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.3ms, max=3.1ms
+  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
+  mj_forward_sync: mean=474.6us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=23.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 16:44:01 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 16:44:01 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5436.15s
+  Worker averages:
+  episode_total: mean=165.44s, total=2977.95s, count=18, min=3258.6ms, max=237928.0ms
+  sensor_polling: mean=504.8ms, total=2202.92s, count=4364, min=381.0ms, max=1179.4ms
+  physics_step: mean=24.9ms, total=108.85s, count=4364, min=12.1ms, max=132.3ms
+  save_trajectories: mean=9.84s, total=78.73s, count=8, min=8529.1ms, max=12326.7ms
+  save_batch_prep: mean=4.60s, total=36.77s, count=8, min=3968.8ms, max=5399.2ms
+  task_sampling: mean=734.6ms, total=13.22s, count=18, min=362.6ms, max=4414.0ms
+  task_specific_sample: mean=525.7ms, total=9.46s, count=18, min=358.0ms, max=899.4ms
+  scene_load: mean=3.69s, total=3.69s, count=1, min=3693.1ms, max=3693.1ms
+  scene_env_create: mean=2.63s, total=2.63s, count=1, min=2634.0ms, max=2634.0ms
+  scene_compile: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  compile_mujoco: mean=510.5ms, total=510.5ms, count=1, min=510.5ms, max=510.5ms
+  scene_init: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms
+  compile_xml_load: mean=146.3ms, total=146.3ms, count=1, min=146.3ms, max=146.3ms
+  scene_asset_install: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms
+  asset_install_grasps: mean=47.4ms, total=47.4ms, count=1, min=47.4ms, max=47.4ms
+  compile_aux_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  compile_aux_policy_objects: mean=39.5ms, total=39.5ms, count=1, min=39.5ms, max=39.5ms
+  scene_randomize: mean=2.1ms, total=37.4ms, count=18, min=1.3ms, max=3.1ms
+  asset_install_scene: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  asset_install_objects: mean=13.7ms, total=13.7ms, count=1, min=13.7ms, max=13.7ms
+  mj_forward_sync: mean=474.6us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=4.9ms, total=4.9ms, count=1, min=4.9ms, max=4.9ms
+  policy_setup: mean=23.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 16:44:03 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 16:44:03 INFO pipeline.py:1491] Success count: 8, Total count: 10
+[05/10 16:44:03 INFO pipeline.py:1492] Success rate: 80.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_003
+==========================================
diff --git a/fridge_7/chunk_003/shard_2_of_4.log b/fridge_7/chunk_003/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..7c230926758a5c660166365c3e2675b0ae59f866
--- /dev/null
+++ b/fridge_7/chunk_003/shard_2_of_4.log
@@ -0,0 +1,1863 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_003
+  shard=2/4  seed=20302  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:53:51 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 15:53:51 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 15:53:51 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_003'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 15:53:51 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7a3e72a3c150>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20302,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:53:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 15:53:51 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 15:53:51 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 134408633675088 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 134408633675088 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 134408633675088 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 134408633675088 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 134408633205072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 134408633205072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 134408633206288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 134408633206288 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 134408633206288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 134408633206288 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 134408633205072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 134408633205072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 134408632736400 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 134408632736400 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 134408632735632 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 134408632735632 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 134408632735632 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 134408632735632 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 134408632736400 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 134408632736400 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 15:53:51 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c97e7aefd30 at 0x7a3e72f3a8d0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c97e7b1d8d0 at 0x7a3e72f462d0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c97e7b1d8d0 at 0x7a3e730cce10>
+[05/10 15:53:54 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:53:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:53:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:53:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:53:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:53:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 15:53:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:53:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:53:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013950m
+[05/10 15:53:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:53:54 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 15:53:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:53:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92499152  0.51050965  0.01395037] yaw=-183.4deg
+[05/10 15:53:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:53:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95806708  0.35654412  0.01395037] yaw=175.6deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02141212  0.90919666  0.01395037] yaw=-152.2deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:53:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:53:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=54.6ms, retries=334.4ms, total=389.0ms
+[05/10 15:53:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.511, 0.014)
+[05/10 15:53:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.4 deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.778m
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:53:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:53:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 15:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 26.552s
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.417s, found feasible grasp: True
+[05/10 15:54:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.385[m] 101.940[deg]
+[05/10 15:54:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:54:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:55:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:56:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 15:57:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:57:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
+[05/10 15:57:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:57:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 15:57:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:57:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.84s (batch: 4.67s, save: 9.17s)
+[05/10 15:57:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.16s:
+  episode_total: mean=222.93s, total=222.93s, count=1, min=222930.0ms, max=222930.0ms
+  sensor_polling: mean=468.0ms, total=140.41s, count=300, min=402.5ms, max=740.9ms
+  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9168.3ms, max=9168.3ms
+  physics_step: mean=23.8ms, total=7.15s, count=300, min=16.6ms, max=58.4ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4670.4ms, max=4670.4ms
+  task_sampling: mean=4.16s, total=4.16s, count=1, min=4161.1ms, max=4161.1ms
+  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
+  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
+  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
+  task_specific_sample: mean=680.1ms, total=680.1ms, count=1, min=680.1ms, max=680.1ms
+  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
+  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
+  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
+  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=578.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=47.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:57:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:57:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:57:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:57:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:57:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:57:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:57:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:57:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:57:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:57:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:57:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
+[05/10 15:57:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:57:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:57:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069147m
+[05/10 15:57:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:57:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:57:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:57:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16174814  1.06115741  0.06914729] yaw=-144.3deg
+[05/10 15:57:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:57:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:57:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81210341  0.76659614  0.06914729] yaw=-170.4deg
+[05/10 15:57:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:57:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03028865  1.11454351  0.06914729] yaw=-145.0deg
+[05/10 15:57:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:57:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:57:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms
+[05/10 15:57:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.162, 1.061, 0.069)
+[05/10 15:57:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg
+[05/10 15:57:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
+[05/10 15:57:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:57:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:57:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:57:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:57:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:57:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 15:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
+[05/10 15:57:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:57:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:57:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 15:57:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.550s, found feasible grasp: True
+[05/10 15:57:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.406[m] 87.452[deg]
+[05/10 15:57:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:58:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:58:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:58:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 15:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 15:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 15:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 15:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 15:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 15:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 15:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 15:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 15:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:59:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:59:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:59:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps
+[05/10 15:59:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.190s, found feasible grasp: True
+[05/10 15:59:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.315[deg]
+[05/10 16:00:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:00:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:00:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:00:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:00:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:00:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:00:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:00:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:00:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:00:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:00:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 16:00:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:00:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:00:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085386m
+[05/10 16:00:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:00:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:00:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:00:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.05589427  1.10472167  0.08538633] yaw=-131.9deg
+[05/10 16:00:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:00:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71613277  0.79122796  0.08538633] yaw=-151.8deg
+[05/10 16:00:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:00:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01377947  0.97806664  0.08538633] yaw=-153.2deg
+[05/10 16:00:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:00:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:00:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.2ms, total=248.2ms
+[05/10 16:00:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.056, 1.105, 0.085)
+[05/10 16:00:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg
+[05/10 16:00:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.898m
+[05/10 16:00:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:00:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:00:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:00:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:00:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 16:00:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
+[05/10 16:00:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:00:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:00:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps
+[05/10 16:00:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.661s, found feasible grasp: True
+[05/10 16:00:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.460[m] 93.096[deg]
+[05/10 16:00:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:00:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:00:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:00:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:00:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:01:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:02:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:02:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:02:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:02:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:02:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:02:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:02:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:02:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:02:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:02:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps
+[05/10 16:02:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.721s, found feasible grasp: True
+[05/10 16:02:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.218[deg]
+[05/10 16:02:26 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:02:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:02:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:02:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:02:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:02:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:02:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:02:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:02:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:02:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:02:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:02:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 16:02:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:02:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:02:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030293m
+[05/10 16:02:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:02:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:02:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:02:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:02:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:02:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:02:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86286907  0.30276229  0.0302931 ] yaw=176.6deg
+[05/10 16:02:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:02:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08329868  1.06910987  0.0302931 ] yaw=-137.0deg
+[05/10 16:02:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:02:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87923756  0.13175047  0.0302931 ] yaw=168.2deg
+[05/10 16:02:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:02:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:02:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.4ms, total=298.4ms
+[05/10 16:02:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.303, 0.030)
+[05/10 16:02:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.6 deg
+[05/10 16:02:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.858m
+[05/10 16:02:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:02:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:02:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:02:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:02:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:02:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 16:02:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 16:02:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:02:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:02:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 16:02:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.094s, found feasible grasp: True
+[05/10 16:02:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.408[m] 83.468[deg]
+[05/10 16:02:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:02:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:02:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:04:21 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 16:04:21 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:04:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:04:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:04:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
+[05/10 16:04:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.452s, found feasible grasp: True
+[05/10 16:04:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.215[deg]
+[05/10 16:04:23 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 402, in get_action
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:04:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:04:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:04:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:04:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:04:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:04:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:04:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:04:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:04:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:04:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 16:04:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:04:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:04:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016339m
+[05/10 16:04:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:04:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:04:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:04:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:04:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96402366  0.71105387  0.016339  ] yaw=-173.3deg
+[05/10 16:04:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:04:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:04:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78562662  1.01733798  0.016339  ] yaw=-151.6deg
+[05/10 16:04:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:04:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:04:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61691606  0.45008605  0.016339  ] yaw=188.7deg
+[05/10 16:04:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:04:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:04:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms
+[05/10 16:04:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.711, 0.016)
+[05/10 16:04:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.3 deg
+[05/10 16:04:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.773m
+[05/10 16:04:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:04:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:04:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:04:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:04:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 16:04:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
+[05/10 16:04:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:04:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:04:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 16:04:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.655s, found feasible grasp: True
+[05/10 16:04:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.361[m] 84.673[deg]
+[05/10 16:04:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:05:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:07:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:07:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:07:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
+[05/10 16:07:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
+[05/10 16:07:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:07:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:07:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.09s (batch: 3.57s, save: 8.52s)
+[05/10 16:07:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=2.02s:
+  episode_total: mean=150.62s, total=602.49s, count=4, min=114512.1ms, max=199018.0ms
+  sensor_polling: mean=484.3ms, total=496.88s, count=1026, min=382.2ms, max=1086.5ms
+  physics_step: mean=22.9ms, total=23.47s, count=1026, min=13.5ms, max=77.8ms
+  save_trajectories: mean=8.52s, total=8.52s, count=1, min=8519.3ms, max=8519.3ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3570.4ms, max=3570.4ms
+  task_sampling: mean=505.3ms, total=2.02s, count=4, min=441.6ms, max=550.3ms
+  task_specific_sample: mean=501.8ms, total=2.01s, count=4, min=438.1ms, max=546.0ms
+  scene_randomize: mean=1.7ms, total=6.9ms, count=4, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=423.7us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=20.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 16:07:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:07:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:07:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:07:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:07:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:07:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:07:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:07:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:07:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:07:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 16:07:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:07:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:07:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008012m
+[05/10 16:07:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:07:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:07:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:07:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04043767  1.15785182  0.00801228] yaw=-127.4deg
+[05/10 16:07:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:07:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:07:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82226372  0.74286289  0.00801228] yaw=-162.3deg
+[05/10 16:07:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:07:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86058081  0.7330473   0.00801228] yaw=-152.2deg
+[05/10 16:07:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:07:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:07:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.5ms
+[05/10 16:07:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.040, 1.158, 0.008)
+[05/10 16:07:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.4 deg
+[05/10 16:07:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m
+[05/10 16:07:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:07:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:07:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:07:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:07:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 16:07:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 16:07:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:07:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:07:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 16:07:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.791s, found feasible grasp: True
+[05/10 16:07:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.553[m] 85.963[deg]
+[05/10 16:07:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:09:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:10:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:10:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:10:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:10:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:10:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:10:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:10:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:10:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:10:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/10 16:10:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.516s, found feasible grasp: True
+[05/10 16:10:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.110[m] 0.845[deg]
+[05/10 16:10:36 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:10:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:10:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:10:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:10:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:10:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:10:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:10:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:10:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:10:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:10:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:10:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 16:10:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:10:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:10:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024879m
+[05/10 16:10:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:10:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:10:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:10:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77662835  0.03348251  0.02487855] yaw=160.1deg
+[05/10 16:10:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:10:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7262239   0.32107356  0.02487855] yaw=180.6deg
+[05/10 16:10:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:10:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91694472  1.04422765  0.02487855] yaw=-137.8deg
+[05/10 16:10:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:10:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:10:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.0ms, total=135.0ms
+[05/10 16:10:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.033, 0.025)
+[05/10 16:10:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.1 deg
+[05/10 16:10:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.029m
+[05/10 16:10:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:10:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:10:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:10:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:10:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:10:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 16:10:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 16:10:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:10:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:10:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 16:10:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.984s, found feasible grasp: True
+[05/10 16:10:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 14 (originally 14): w/ 0.557[m] 78.082[deg]
+[05/10 16:10:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:10:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:10:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:11:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:11:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:12:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:13:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:14:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:14:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
+[05/10 16:14:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:14:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:14:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:14:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.84s (batch: 4.39s, save: 8.45s)
+[05/10 16:14:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.84s:
+  episode_total: mean=193.53s, total=387.06s, count=2, min=170400.3ms, max=216658.1ms
+  sensor_polling: mean=534.2ms, total=305.53s, count=572, min=438.8ms, max=1213.2ms
+  physics_step: mean=26.5ms, total=15.18s, count=572, min=16.2ms, max=116.2ms
+  save_trajectories: mean=8.45s, total=8.45s, count=1, min=8445.7ms, max=8445.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.9ms, max=4390.9ms
+  task_sampling: mean=419.7ms, total=839.5ms, count=2, min=403.9ms, max=435.6ms
+  task_specific_sample: mean=416.0ms, total=831.9ms, count=2, min=400.2ms, max=431.7ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=2.0ms, max=2.6ms
+  mj_forward_sync: mean=440.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:14:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:14:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:14:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:14:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:14:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:14:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:14:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:14:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:14:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:14:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:14:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 16:14:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:14:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:14:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040415m
+[05/10 16:14:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:14:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:14:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:14:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:14:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:14:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88845622  0.16469359  0.0404149 ] yaw=159.5deg
+[05/10 16:14:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:14:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:14:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:14:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-8.01780578e-01 -5.14398145e-04  4.04149035e-02] yaw=158.0deg
+[05/10 16:14:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:14:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.97351063  0.79620422  0.0404149 ] yaw=-157.6deg
+[05/10 16:14:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:14:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:14:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.3ms, total=195.4ms
+[05/10 16:14:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.165, 0.040)
+[05/10 16:14:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.5 deg
+[05/10 16:14:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.874m
+[05/10 16:14:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:14:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:14:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:14:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:14:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:14:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 16:14:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 16:14:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:14:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:14:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 16:14:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True
+[05/10 16:14:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.422[m] 83.915[deg]
+[05/10 16:14:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:15:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:15:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:15:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:16:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:16:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:16:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:16:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:16:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:16:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:16:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:16:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:16:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:16:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:16:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:16:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:16:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.089s, found 80 non-colliding grasps
+[05/10 16:16:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.912s, found feasible grasp: True
+[05/10 16:16:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.148[deg]
+[05/10 16:16:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:16:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:16:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:16:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:16:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:17:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:17:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:17:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:17:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:17:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:17:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:17:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:17:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:17:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:17:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:17:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:17:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:17:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:17:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:17:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
+[05/10 16:17:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.014s, found feasible grasp: True
+[05/10 16:17:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.766[deg]
+[05/10 16:17:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:17:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:17:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:17:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:17:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:17:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:17:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:17:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:17:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:17:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:17:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:17:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
+[05/10 16:17:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:17:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:17:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070770m
+[05/10 16:17:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:17:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:17:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:17:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75914779  0.17393625  0.07076972] yaw=162.7deg
+[05/10 16:17:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:17:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91777318  0.05388592  0.07076972] yaw=158.6deg
+[05/10 16:17:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:17:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.86167201  1.18775974  0.07076972] yaw=-147.7deg
+[05/10 16:17:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:17:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:17:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=339.7ms, total=339.7ms
+[05/10 16:17:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.174, 0.071)
+[05/10 16:17:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.7 deg
+[05/10 16:17:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.992m
+[05/10 16:17:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:17:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:17:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:17:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:17:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:17:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 16:17:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
+[05/10 16:17:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:17:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:17:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 16:17:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.021s, found feasible grasp: True
+[05/10 16:17:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.564[m] 87.634[deg]
+[05/10 16:17:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:17:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:17:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:19:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:20:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:20:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:20:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:20:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:20:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:20:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:20:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 80 non-colliding grasps
+[05/10 16:20:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True
+[05/10 16:20:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.306[deg]
+[05/10 16:20:45 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:20:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:20:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:20:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:20:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:20:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:20:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:20:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:20:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:20:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:20:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:20:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 16:20:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:20:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:20:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077196m
+[05/10 16:20:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:20:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:20:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:20:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90942821  0.49564426  0.07719582] yaw=-175.6deg
+[05/10 16:20:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:20:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95425783  0.1672931   0.07719582] yaw=149.2deg
+[05/10 16:20:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:20:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76981924  0.72782019  0.07719582] yaw=-163.6deg
+[05/10 16:20:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:20:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:20:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.3ms, total=261.3ms
+[05/10 16:20:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.496, 0.077)
+[05/10 16:20:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.6 deg
+[05/10 16:20:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.793m
+[05/10 16:20:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:20:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:20:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:20:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:20:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:20:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 16:20:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 16:20:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:20:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:20:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/10 16:20:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.634s, found feasible grasp: True
+[05/10 16:20:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.394[m] 97.959[deg]
+[05/10 16:20:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:21:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:21:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:23:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:24:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:24:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
+[05/10 16:24:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:24:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:24:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:24:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 16.02s (batch: 4.69s, save: 11.33s)
+[05/10 16:24:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.67s:
+  episode_total: mean=200.13s, total=600.39s, count=3, min=188567.6ms, max=212845.0ms
+  sensor_polling: mean=525.1ms, total=456.85s, count=870, min=440.9ms, max=1002.4ms
+  physics_step: mean=25.2ms, total=21.92s, count=870, min=15.6ms, max=109.1ms
+  save_trajectories: mean=11.33s, total=11.33s, count=1, min=11327.9ms, max=11327.9ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4692.7ms, max=4692.7ms
+  task_sampling: mean=556.0ms, total=1.67s, count=3, min=514.6ms, max=607.7ms
+  task_specific_sample: mean=552.1ms, total=1.66s, count=3, min=510.8ms, max=604.3ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.6ms, max=2.5ms
+  mj_forward_sync: mean=544.5us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 16:24:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:24:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:24:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:24:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:24:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:24:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:24:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:24:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:24:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:24:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:24:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
+[05/10 16:24:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:24:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:24:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059099m
+[05/10 16:24:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:24:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:24:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:24:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.06711343  1.21619197  0.05909856] yaw=-135.8deg
+[05/10 16:24:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:24:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72625719  0.67466175  0.05909856] yaw=-180.2deg
+[05/10 16:24:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:24:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81071773  0.59215573  0.05909856] yaw=-175.6deg
+[05/10 16:24:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:24:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:24:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.5ms, total=285.5ms
+[05/10 16:24:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.067, 1.216, 0.059)
+[05/10 16:24:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.8 deg
+[05/10 16:24:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.971m
+[05/10 16:24:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:24:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:24:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:24:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:24:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:24:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 16:24:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
+[05/10 16:24:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:24:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:24:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps
+[05/10 16:24:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.891s, found feasible grasp: True
+[05/10 16:24:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.537[m] 79.409[deg]
+[05/10 16:24:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:25:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:26:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:26:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:26:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:26:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:26:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:26:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:26:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:26:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:26:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:26:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
+[05/10 16:26:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.631s, found feasible grasp: True
+[05/10 16:26:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.600[deg]
+[05/10 16:26:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:26:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:26:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:27:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:27:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:27:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:27:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:27:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:27:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:27:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:27:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:27:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:27:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:27:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps
+[05/10 16:27:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.700s, found feasible grasp: True
+[05/10 16:27:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.261[deg]
+[05/10 16:27:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:27:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:27:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:27:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False
+[05/10 16:27:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=False episode_total=0.60s:
+  episode_total: mean=192.16s, total=192.16s, count=1, min=192158.4ms, max=192158.4ms
+  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=446.8ms, max=895.4ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=17.4ms, max=71.0ms
+  task_sampling: mean=595.4ms, total=595.4ms, count=1, min=595.4ms, max=595.4ms
+  task_specific_sample: mean=590.7ms, total=590.7ms, count=1, min=590.7ms, max=590.7ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=622.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:27:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:27:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:27:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:27:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:27:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:27:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:27:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:27:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:27:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:27:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:27:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/10 16:27:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:27:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:27:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022706m
+[05/10 16:27:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:27:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:27:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:27:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98687091  0.15740173  0.02270557] yaw=161.0deg
+[05/10 16:27:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:27:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:27:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.8ms, total=191.8ms
+[05/10 16:27:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.987, 0.157, 0.023)
+[05/10 16:27:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.0 deg
+[05/10 16:27:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/10 16:27:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:27:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:27:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:27:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:27:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:27:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 16:27:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 16:27:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:27:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:27:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 16:27:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
+[05/10 16:27:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.305[m] 82.211[deg]
+[05/10 16:27:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:28:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:28:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:28:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:29:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:29:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:29:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:29:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:29:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps
+[05/10 16:29:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True
+[05/10 16:29:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.110[deg]
+[05/10 16:29:13 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:29:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:29:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:29:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:29:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:29:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:29:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:29:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:29:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:29:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:29:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:29:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 16:29:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:29:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:29:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077671m
+[05/10 16:29:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:29:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:29:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.75172133  0.88893214  0.07767075] yaw=-164.5deg
+[05/10 16:29:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:29:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.88947699  0.65714932  0.07767075] yaw=-172.6deg
+[05/10 16:29:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:29:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:29:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.4ms, total=308.4ms
+[05/10 16:29:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.889, 0.078)
+[05/10 16:29:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg
+[05/10 16:29:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m
+[05/10 16:29:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:29:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:29:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:29:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:29:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:29:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 16:29:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/10 16:29:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:29:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:29:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/10 16:29:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.644s, found feasible grasp: True
+[05/10 16:29:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.637[m] 89.072[deg]
+[05/10 16:29:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:29:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:29:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:29:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:29:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:29:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:29:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:29:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:29:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
+[05/10 16:29:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:29:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:29:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046036m
+[05/10 16:29:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:29:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:29:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70457748  0.84556131  0.04603576] yaw=-168.7deg
+[05/10 16:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93082947  0.47619335  0.04603576] yaw=182.2deg
+[05/10 16:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67813398  0.72069999  0.04603576] yaw=-169.1deg
+[05/10 16:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:29:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:29:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms
+[05/10 16:29:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.705, 0.846, 0.046)
+[05/10 16:29:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg
+[05/10 16:29:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.062m
+[05/10 16:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:29:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:29:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:29:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 16:29:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 16:29:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:29:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:29:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 16:29:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.653s, found feasible grasp: True
+[05/10 16:29:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.610[m] 82.071[deg]
+[05/10 16:29:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:30:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:30:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:30:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:31:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:32:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:32:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
+[05/10 16:32:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:32:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:32:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:32:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.81s (batch: 3.95s, save: 10.85s)
+[05/10 16:32:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.44s:
+  episode_total: mean=97.06s, total=291.19s, count=3, min=3428.9ms, max=190505.8ms
+  sensor_polling: mean=480.9ms, total=221.22s, count=460, min=442.9ms, max=893.1ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.3ms, max=10850.3ms
+  physics_step: mean=22.4ms, total=10.32s, count=460, min=15.8ms, max=37.0ms
+  save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3954.9ms, max=3954.9ms
+  task_sampling: mean=478.7ms, total=1.44s, count=3, min=369.4ms, max=602.2ms
+  task_specific_sample: mean=475.2ms, total=1.43s, count=3, min=366.1ms, max=598.4ms
+  scene_randomize: mean=1.5ms, total=4.5ms, count=3, min=1.3ms, max=1.6ms
+  mj_forward_sync: mean=456.7us, total=1.4ms, count=3, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 16:32:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:32:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:32:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:32:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:32:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:32:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:32:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:32:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:32:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:32:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:32:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
+[05/10 16:32:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:32:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:32:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098563m
+[05/10 16:32:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:32:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:32:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:32:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:32:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73175932  0.88425775  0.09856334] yaw=-166.1deg
+[05/10 16:32:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:32:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.03302526  1.05348668  0.09856334] yaw=-131.0deg
+[05/10 16:32:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:32:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:32:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:32:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90752143  1.18015615  0.09856334] yaw=-147.1deg
+[05/10 16:32:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:32:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:32:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.0ms, total=186.1ms
+[05/10 16:32:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.884, 0.099)
+[05/10 16:32:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.1 deg
+[05/10 16:32:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.051m
+[05/10 16:32:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:32:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:32:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:32:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:32:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:32:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 16:32:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 16:32:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:32:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:32:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 16:32:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.073s, found feasible grasp: True
+[05/10 16:32:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.690[m] 99.562[deg]
+[05/10 16:32:37 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:32:37 Worker 0 WARNING task_sampler.py:396] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose
+[05/10 16:32:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:32:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:32:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:32:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:32:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:32:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:32:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:32:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 16:32:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:32:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:32:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024562m
+[05/10 16:32:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:32:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:32:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.14410645  1.15942438  0.02456151] yaw=-123.8deg
+[05/10 16:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78942225  0.76124507  0.02456151] yaw=-167.4deg
+[05/10 16:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:32:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:32:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89079681  0.99996986  0.02456151] yaw=-144.0deg
+[05/10 16:32:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:32:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:32:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.6ms, total=251.6ms
+[05/10 16:32:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.144, 1.159, 0.025)
+[05/10 16:32:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.8 deg
+[05/10 16:32:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.878m
+[05/10 16:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:32:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:32:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:32:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 16:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 16:32:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:32:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:32:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 16:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.002s, found feasible grasp: True
+[05/10 16:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 89.426[deg]
+[05/10 16:32:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:32:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:32:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:32:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:32:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:32:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:32:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:32:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
+[05/10 16:32:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:32:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:32:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006131m
+[05/10 16:32:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:32:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:32:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8884785   0.10331304  0.00613069] yaw=159.0deg
+[05/10 16:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86344759  0.85633459  0.00613069] yaw=-159.6deg
+[05/10 16:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:32:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:32:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73553633  0.59103743  0.00613069] yaw=-169.9deg
+[05/10 16:32:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:32:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:32:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.8ms
+[05/10 16:32:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.103, 0.006)
+[05/10 16:32:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.0 deg
+[05/10 16:32:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.898m
+[05/10 16:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:32:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:32:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:32:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 16:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
+[05/10 16:32:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:32:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:32:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 16:32:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True
+[05/10 16:32:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.497[m] 95.974[deg]
+[05/10 16:32:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:33:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:33:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:34:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:35:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:36:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:36:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 2/4: 1 episodes
+[05/10 16:36:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:36:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:36:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:36:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 16.41s (batch: 4.50s, save: 11.91s)
+[05/10 16:36:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.52s:
+  episode_total: mean=75.87s, total=227.61s, count=3, min=4046.0ms, max=218683.1ms
+  sensor_polling: mean=542.5ms, total=162.74s, count=300, min=450.0ms, max=1042.2ms
+  save_trajectories: mean=11.91s, total=11.91s, count=1, min=11906.7ms, max=11906.7ms
+  physics_step: mean=27.4ms, total=8.22s, count=300, min=19.1ms, max=162.9ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4500.4ms, max=4500.4ms
+  task_sampling: mean=506.0ms, total=1.52s, count=3, min=455.0ms, max=540.7ms
+  task_specific_sample: mean=502.8ms, total=1.51s, count=3, min=452.1ms, max=537.8ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=458.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 16:36:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:36:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:36:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:36:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:36:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:36:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:36:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:36:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:36:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:36:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:36:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 16:36:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:36:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:36:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073825m
+[05/10 16:36:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:36:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:36:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:36:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:36:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:36:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90864735  0.22478142  0.07382458] yaw=170.1deg
+[05/10 16:36:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:36:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:36:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:36:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74669891  0.21978485  0.07382458] yaw=171.7deg
+[05/10 16:36:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:36:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0136315   0.83607632  0.07382458] yaw=-152.6deg
+[05/10 16:36:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:36:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:36:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.1ms
+[05/10 16:36:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.225, 0.074)
+[05/10 16:36:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg
+[05/10 16:36:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.834m
+[05/10 16:36:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:36:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:36:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:36:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:36:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 16:36:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
+[05/10 16:36:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:36:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:36:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 16:36:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True
+[05/10 16:36:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.404[m] 98.331[deg]
+[05/10 16:36:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:37:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:37:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:37:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:38:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:38:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:38:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:38:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:38:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:38:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/10 16:38:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.480s, found feasible grasp: True
+[05/10 16:38:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.839[deg]
+[05/10 16:38:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:38:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:38:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:38:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:38:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:38:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:38:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:38:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:38:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:38:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:38:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:38:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:38:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:38:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:38:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
+[05/10 16:38:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.513s, found feasible grasp: True
+[05/10 16:38:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.835[deg]
+[05/10 16:38:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:38:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:38:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:38:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:38:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:38:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:38:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:38:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:38:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:38:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 16:38:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:38:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:38:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
+[05/10 16:38:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.507s, found feasible grasp: True
+[05/10 16:38:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.835[deg]
+[05/10 16:39:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:39:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:39:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:39:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:39:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:39:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:39:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:39:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:39:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:39:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:39:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:39:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:39:17 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 16:39:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False
+[05/10 16:39:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=False episode_total=0.51s:
+  episode_total: mean=172.24s, total=172.24s, count=1, min=172241.0ms, max=172241.0ms
+  sensor_polling: mean=532.7ms, total=120.40s, count=226, min=444.5ms, max=1037.2ms
+  physics_step: mean=26.1ms, total=5.90s, count=226, min=13.3ms, max=87.0ms
+  task_sampling: mean=506.7ms, total=506.7ms, count=1, min=506.7ms, max=506.7ms
+  task_specific_sample: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=434.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:39:19 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
+[05/10 16:39:19 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
+[05/10 16:39:19 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 6/8 successful episodes
+[05/10 16:39:19 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 6/8 successful, 8 episodes, total_time=4970.21s
+  House averages:
+  episode_total: mean=149.78s, total=2696.06s, count=18, min=3428.9ms, max=222930.0ms
+  sensor_polling: mean=507.9ms, total=2058.98s, count=4054, min=382.2ms, max=1213.2ms
+  physics_step: mean=24.5ms, total=99.41s, count=4054, min=13.3ms, max=162.9ms
+  save_trajectories: mean=10.04s, total=60.22s, count=6, min=8445.7ms, max=11906.7ms
+  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3570.4ms, max=4692.7ms
+  task_sampling: mean=708.1ms, total=12.75s, count=18, min=369.4ms, max=4161.1ms
+  task_specific_sample: mean=511.3ms, total=9.20s, count=18, min=366.1ms, max=680.1ms
+  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
+  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
+  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
+  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
+  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
+  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
+  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  scene_randomize: mean=1.9ms, total=33.6ms, count=18, min=1.2ms, max=3.2ms
+  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=477.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 16:39:19 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 16:39:19 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 8 episodes, total_time=4970.21s
+  Worker averages:
+  episode_total: mean=149.78s, total=2696.06s, count=18, min=3428.9ms, max=222930.0ms
+  sensor_polling: mean=507.9ms, total=2058.98s, count=4054, min=382.2ms, max=1213.2ms
+  physics_step: mean=24.5ms, total=99.41s, count=4054, min=13.3ms, max=162.9ms
+  save_trajectories: mean=10.04s, total=60.22s, count=6, min=8445.7ms, max=11906.7ms
+  save_batch_prep: mean=4.30s, total=25.78s, count=6, min=3570.4ms, max=4692.7ms
+  task_sampling: mean=708.1ms, total=12.75s, count=18, min=369.4ms, max=4161.1ms
+  task_specific_sample: mean=511.3ms, total=9.20s, count=18, min=366.1ms, max=680.1ms
+  scene_load: mean=3.48s, total=3.48s, count=1, min=3477.1ms, max=3477.1ms
+  scene_env_create: mean=2.56s, total=2.56s, count=1, min=2558.7ms, max=2558.7ms
+  scene_compile: mean=698.4ms, total=698.4ms, count=1, min=698.4ms, max=698.4ms
+  compile_mujoco: mean=497.2ms, total=497.2ms, count=1, min=497.2ms, max=497.2ms
+  compile_xml_load: mean=143.4ms, total=143.4ms, count=1, min=143.4ms, max=143.4ms
+  scene_init: mean=138.6ms, total=138.6ms, count=1, min=138.6ms, max=138.6ms
+  scene_asset_install: mean=81.2ms, total=81.2ms, count=1, min=81.2ms, max=81.2ms
+  asset_install_grasps: mean=49.3ms, total=49.3ms, count=1, min=49.3ms, max=49.3ms
+  compile_aux_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  compile_aux_policy_objects: mean=40.1ms, total=40.1ms, count=1, min=40.1ms, max=40.1ms
+  scene_randomize: mean=1.9ms, total=33.6ms, count=18, min=1.2ms, max=3.2ms
+  asset_install_objects: mean=23.0ms, total=23.0ms, count=1, min=23.0ms, max=23.0ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_scene: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=477.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.4us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 16:39:22 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 16:39:22 INFO pipeline.py:1491] Success count: 6, Total count: 8
+[05/10 16:39:22 INFO pipeline.py:1492] Success rate: 75.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_003
+==========================================
diff --git a/fridge_7/chunk_003/shard_3_of_4.log b/fridge_7/chunk_003/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..fd11cf470e0b63fc06ed169b99f17df337ca539f
--- /dev/null
+++ b/fridge_7/chunk_003/shard_3_of_4.log
@@ -0,0 +1,1673 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_003
+  shard=3/4  seed=20303  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:53:50 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 15:53:50 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 15:53:50 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_003'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 15:53:50 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7eaa413d5f10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20303,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:53:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 15:53:50 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 15:53:50 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 139269701374544 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 139269701374544 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 139269701374544 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 139269701374544 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 139269703957520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139269703957520 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139269703958032 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139269703958032 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139269703958032 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139269703958032 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139269703957520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139269703957520 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139269701410960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139269701410960 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139269701415952 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139269701415952 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 139269701415952 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139269701415952 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139269701410960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139269701410960 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 15:53:51 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5dc199c6df80 at 0x7eaa419b0a10>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5dc199c6fa50 at 0x7eaa417664d0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5dc199c6fa50 at 0x7eaa415e8a90>
+[05/10 15:53:54 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 15:53:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:53:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:53:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
+[05/10 15:53:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:53:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:53:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057388m
+[05/10 15:53:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:53:55 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 15:53:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74110588  0.87079015  0.0573882 ] yaw=-168.1deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75827121  1.04572345  0.0573882 ] yaw=-146.2deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:53:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:53:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=36.8ms, retries=354.6ms, total=391.4ms
+[05/10 15:53:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.871, 0.057)
+[05/10 15:53:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.1 deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.037m
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:53:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:53:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 15:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.528s
+[05/10 15:54:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:54:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:54:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 15:54:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.284s, found feasible grasp: True
+[05/10 15:54:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.669[m] 89.926[deg]
+[05/10 15:54:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:55:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:56:15 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 15:56:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 15:56:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:56:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:56:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 78 non-colliding grasps
+[05/10 15:56:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.395s, found feasible grasp: True
+[05/10 15:56:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.581[deg]
+[05/10 15:56:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:56:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:56:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:56:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False
+[05/10 15:56:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=False episode_total=5.12s:
+  episode_total: mean=180.64s, total=180.64s, count=1, min=180638.3ms, max=180638.3ms
+  sensor_polling: mean=451.9ms, total=135.57s, count=300, min=394.0ms, max=741.7ms
+  physics_step: mean=20.9ms, total=6.26s, count=300, min=16.3ms, max=44.4ms
+  task_sampling: mean=5.12s, total=5.12s, count=1, min=5124.4ms, max=5124.4ms
+  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
+  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
+  task_specific_sample: mean=660.6ms, total=660.6ms, count=1, min=660.6ms, max=660.6ms
+  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
+  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
+  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
+  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
+  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
+  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=39.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:56:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:56:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:56:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:56:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:56:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:56:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:56:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:56:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:56:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:56:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:56:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/10 15:56:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:56:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:56:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023147m
+[05/10 15:56:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:56:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:56:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:56:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:56:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:56:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:56:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6861366   0.61371963  0.02314673] yaw=-165.3deg
+[05/10 15:56:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:56:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:56:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:56:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=561.8ms, total=561.8ms
+[05/10 15:56:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.614, 0.023)
+[05/10 15:56:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.3 deg
+[05/10 15:56:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.025m
+[05/10 15:56:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:56:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:56:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:56:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:56:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:56:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 15:56:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 15:56:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:56:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:56:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 15:56:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True
+[05/10 15:56:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.608[m] 89.711[deg]
+[05/10 15:56:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:58:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:59:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 15:59:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:59:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 15:59:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:59:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 15:59:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:59:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.76s (batch: 3.62s, save: 9.15s)
+[05/10 15:59:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.79s:
+  episode_total: mean=185.84s, total=185.84s, count=1, min=185843.1ms, max=185843.1ms
+  sensor_polling: mean=450.0ms, total=135.01s, count=300, min=384.1ms, max=919.0ms
+  save_trajectories: mean=9.15s, total=9.15s, count=1, min=9147.1ms, max=9147.1ms
+  physics_step: mean=20.1ms, total=6.04s, count=300, min=16.5ms, max=37.9ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3617.7ms, max=3617.7ms
+  task_sampling: mean=785.7ms, total=785.7ms, count=1, min=785.7ms, max=785.7ms
+  task_specific_sample: mean=782.7ms, total=782.7ms, count=1, min=782.7ms, max=782.7ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=498.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:00:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:00:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:00:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:00:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:00:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:00:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:00:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:00:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 16:00:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:00:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:00:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055814m
+[05/10 16:00:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:00:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:00:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6873822   0.18014073  0.05581404] yaw=160.7deg
+[05/10 16:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70582676  0.27590113  0.05581404] yaw=172.3deg
+[05/10 16:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95792942  0.17093901  0.05581404] yaw=162.4deg
+[05/10 16:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:00:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:00:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=97.4ms, total=97.5ms
+[05/10 16:00:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.180, 0.056)
+[05/10 16:00:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.7 deg
+[05/10 16:00:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
+[05/10 16:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:00:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:00:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:00:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 16:00:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
+[05/10 16:00:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:00:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:00:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 16:00:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.172s, found feasible grasp: True
+[05/10 16:00:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.606[m] 88.288[deg]
+[05/10 16:00:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:00:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:00:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:01:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:01:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:01:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:01:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:02:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:02:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:02:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:02:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:02:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
+[05/10 16:02:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.515s, found feasible grasp: True
+[05/10 16:02:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.897[deg]
+[05/10 16:02:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:02:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:02:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:02:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:02:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:02:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:02:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:02:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:02:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:02:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:02:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 68 non-colliding grasps
+[05/10 16:02:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 4.625s, found feasible grasp: True
+[05/10 16:02:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 4 (originally 4): w/ 0.220[m] 2.768[deg]
+[05/10 16:02:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:03:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False
+[05/10 16:03:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=False episode_total=0.35s:
+  episode_total: mean=179.42s, total=179.42s, count=1, min=179416.7ms, max=179416.7ms
+  sensor_polling: mean=459.6ms, total=137.88s, count=300, min=393.5ms, max=758.4ms
+  physics_step: mean=21.2ms, total=6.35s, count=300, min=12.4ms, max=63.5ms
+  task_sampling: mean=345.2ms, total=345.2ms, count=1, min=345.2ms, max=345.2ms
+  task_specific_sample: mean=341.2ms, total=341.2ms, count=1, min=341.2ms, max=341.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=482.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:03:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:03:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:03:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:03:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:03:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:03:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:03:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:03:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:03:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:03:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:03:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
+[05/10 16:03:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:03:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:03:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041717m
+[05/10 16:03:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:03:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:03:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:03:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.75215391  0.02484319  0.04171685] yaw=152.6deg
+[05/10 16:03:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:03:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:03:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:03:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:03:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:03:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66629315  0.84781047  0.04171685] yaw=-149.6deg
+[05/10 16:03:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:03:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90912988  0.7641917   0.04171685] yaw=-154.0deg
+[05/10 16:03:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:03:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:03:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=395.0ms, total=395.1ms
+[05/10 16:03:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.752, 0.025, 0.042)
+[05/10 16:03:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.6 deg
+[05/10 16:03:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.054m
+[05/10 16:03:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:03:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:03:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:03:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:03:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:03:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 16:03:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.161s
+[05/10 16:03:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:03:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:03:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.142s, found 88 non-colliding grasps
+[05/10 16:03:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 8.221s, found feasible grasp: True
+[05/10 16:03:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 102 (originally 102): w/ 0.643[m] 93.390[deg]
+[05/10 16:03:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:04:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:04:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:04:36 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 16:04:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:04:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:04:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:04:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps
+[05/10 16:04:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.452s, found feasible grasp: True
+[05/10 16:04:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.101[m] 0.696[deg]
+[05/10 16:04:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:04:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:04:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:04:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:05:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:05:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:05:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False
+[05/10 16:05:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=False episode_total=0.66s:
+  episode_total: mean=177.59s, total=177.59s, count=1, min=177588.0ms, max=177588.0ms
+  sensor_polling: mean=514.5ms, total=154.36s, count=300, min=420.2ms, max=1010.1ms
+  physics_step: mean=25.4ms, total=7.62s, count=300, min=17.2ms, max=114.5ms
+  task_sampling: mean=664.3ms, total=664.3ms, count=1, min=664.3ms, max=664.3ms
+  task_specific_sample: mean=660.7ms, total=660.7ms, count=1, min=660.7ms, max=660.7ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=532.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:06:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:06:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:06:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:06:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:06:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:06:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:06:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:06:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
+[05/10 16:06:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:06:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:06:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071049m
+[05/10 16:06:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:06:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:06:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64479938  0.6990011   0.07104915] yaw=-179.9deg
+[05/10 16:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:06:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6918244   0.72108893  0.07104915] yaw=-177.1deg
+[05/10 16:06:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:06:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:06:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:06:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:06:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91956634  0.12345181  0.07104915] yaw=154.2deg
+[05/10 16:06:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:06:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:06:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=227.1ms, total=227.2ms
+[05/10 16:06:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.645, 0.699, 0.071)
+[05/10 16:06:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.9 deg
+[05/10 16:06:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.080m
+[05/10 16:06:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:06:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:06:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:06:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:06:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:06:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 16:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 16:06:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:06:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:06:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
+[05/10 16:06:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.777s, found feasible grasp: True
+[05/10 16:06:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.653[m] 94.027[deg]
+[05/10 16:06:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:08:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:09:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:09:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:09:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:09:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:09:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:09:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 16.28s (batch: 4.64s, save: 11.64s)
+[05/10 16:09:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.49s:
+  episode_total: mean=217.46s, total=217.46s, count=1, min=217461.8ms, max=217461.8ms
+  sensor_polling: mean=521.0ms, total=156.30s, count=300, min=439.9ms, max=1121.7ms
+  save_trajectories: mean=11.64s, total=11.64s, count=1, min=11641.7ms, max=11641.7ms
+  physics_step: mean=26.2ms, total=7.87s, count=300, min=16.4ms, max=82.0ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.3ms, max=4635.3ms
+  task_sampling: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
+  task_specific_sample: mean=490.7ms, total=490.7ms, count=1, min=490.7ms, max=490.7ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=453.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:09:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:09:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:09:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:09:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:09:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:09:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:09:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:09:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:09:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:09:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:09:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/10 16:09:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:09:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:09:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040811m
+[05/10 16:09:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:09:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:09:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:09:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:09:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:09:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98531105  0.75226466  0.04081066] yaw=-154.2deg
+[05/10 16:09:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:09:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:09:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:09:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11672179  1.13617272  0.04081066] yaw=-138.8deg
+[05/10 16:09:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:09:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.16276934  1.14365327  0.04081066] yaw=-127.6deg
+[05/10 16:09:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:09:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:09:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=242.9ms, total=242.9ms
+[05/10 16:09:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.752, 0.041)
+[05/10 16:09:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg
+[05/10 16:09:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
+[05/10 16:09:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:09:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:09:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:09:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:09:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:09:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 16:09:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/10 16:09:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:09:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:09:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 16:09:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
+[05/10 16:09:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.300[m] 81.061[deg]
+[05/10 16:09:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:10:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:10:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:10:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:12:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:12:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:12:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:12:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 281 timesteps
+[05/10 16:12:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:12:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:12:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.08s (batch: 3.89s, save: 11.19s)
+[05/10 16:12:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.62s:
+  episode_total: mean=197.15s, total=197.15s, count=1, min=197154.3ms, max=197154.3ms
+  sensor_polling: mean=523.0ms, total=146.43s, count=280, min=444.0ms, max=1104.3ms
+  save_trajectories: mean=11.19s, total=11.19s, count=1, min=11192.8ms, max=11192.8ms
+  physics_step: mean=26.1ms, total=7.31s, count=280, min=16.2ms, max=82.4ms
+  save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3886.7ms, max=3886.7ms
+  task_sampling: mean=621.7ms, total=621.7ms, count=1, min=621.7ms, max=621.7ms
+  task_specific_sample: mean=617.2ms, total=617.2ms, count=1, min=617.2ms, max=617.2ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=667.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=38.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:13:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:13:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:13:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:13:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:13:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:13:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:13:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:13:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:13:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:13:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:13:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
+[05/10 16:13:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:13:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:13:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084186m
+[05/10 16:13:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:13:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:13:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:13:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:13:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:13:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69242053  0.29765203  0.0841857 ] yaw=170.5deg
+[05/10 16:13:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:13:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92735471  0.17514077  0.0841857 ] yaw=154.6deg
+[05/10 16:13:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:13:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:13:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97670215  0.14622667  0.0841857 ] yaw=154.8deg
+[05/10 16:13:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:13:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:13:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.0ms, total=134.1ms
+[05/10 16:13:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.298, 0.084)
+[05/10 16:13:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.5 deg
+[05/10 16:13:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
+[05/10 16:13:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:13:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:13:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:13:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:13:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:13:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 16:13:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.105s
+[05/10 16:13:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:13:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:13:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 16:13:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.870s, found feasible grasp: True
+[05/10 16:13:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.570[m] 90.479[deg]
+[05/10 16:13:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:14:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:14:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:15:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:16:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:16:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:16:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:16:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:16:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:16:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.95s (batch: 4.34s, save: 10.60s)
+[05/10 16:16:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.42s:
+  episode_total: mean=213.06s, total=213.06s, count=1, min=213064.8ms, max=213064.8ms
+  sensor_polling: mean=519.9ms, total=155.96s, count=300, min=443.3ms, max=910.8ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10604.7ms, max=10604.7ms
+  physics_step: mean=27.3ms, total=8.18s, count=300, min=18.9ms, max=93.2ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.7ms, max=4344.7ms
+  task_sampling: mean=424.7ms, total=424.7ms, count=1, min=424.7ms, max=424.7ms
+  task_specific_sample: mean=420.0ms, total=420.0ms, count=1, min=420.0ms, max=420.0ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=611.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:16:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:16:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:16:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:16:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:16:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:16:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:16:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:16:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:16:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:16:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:16:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
+[05/10 16:16:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:16:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:16:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033911m
+[05/10 16:16:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:16:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:16:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:16:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:16:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97057961  0.86211681  0.03391084] yaw=-142.1deg
+[05/10 16:16:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:16:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93489134  1.25786349  0.03391084] yaw=-136.3deg
+[05/10 16:16:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:16:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:16:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:16:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8734841   0.33948078  0.03391084] yaw=163.7deg
+[05/10 16:16:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:16:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:16:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=238.1ms, total=238.1ms
+[05/10 16:16:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.971, 0.862, 0.034)
+[05/10 16:16:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.1 deg
+[05/10 16:16:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.825m
+[05/10 16:16:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:16:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:16:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:16:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:16:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:16:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 16:16:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.126s
+[05/10 16:16:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:16:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:16:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 16:16:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True
+[05/10 16:16:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.371[m] 89.973[deg]
+[05/10 16:16:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:16:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:16:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:17:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:17:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:17:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:19:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:19:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:19:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:19:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
+[05/10 16:20:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:20:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:20:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.63s (batch: 4.21s, save: 9.42s)
+[05/10 16:20:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.55s:
+  episode_total: mean=207.33s, total=207.33s, count=1, min=207334.2ms, max=207334.2ms
+  sensor_polling: mean=522.9ms, total=154.79s, count=296, min=439.4ms, max=846.9ms
+  save_trajectories: mean=9.42s, total=9.42s, count=1, min=9420.1ms, max=9420.1ms
+  physics_step: mean=26.0ms, total=7.71s, count=296, min=15.8ms, max=90.7ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4212.2ms, max=4212.2ms
+  task_sampling: mean=550.2ms, total=550.2ms, count=1, min=550.2ms, max=550.2ms
+  task_specific_sample: mean=545.2ms, total=545.2ms, count=1, min=545.2ms, max=545.2ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=655.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:20:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:20:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:20:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:20:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:20:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:20:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:20:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:20:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:20:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:20:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:20:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
+[05/10 16:20:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:20:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:20:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001852m
+[05/10 16:20:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:20:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:20:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80084453  1.10818126  0.0018516 ] yaw=-150.0deg
+[05/10 16:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8730356   0.33828368  0.0018516 ] yaw=176.6deg
+[05/10 16:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:20:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77338296  0.61552429  0.0018516 ] yaw=-176.9deg
+[05/10 16:20:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:20:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:20:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.4ms, total=193.4ms
+[05/10 16:20:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.801, 1.108, 0.002)
+[05/10 16:20:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.0 deg
+[05/10 16:20:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.098m
+[05/10 16:20:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:20:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:20:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:20:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:20:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:20:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 16:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 16:20:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:20:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:20:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 16:20:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.555s, found feasible grasp: True
+[05/10 16:20:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.693[m] 95.221[deg]
+[05/10 16:20:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:20:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:20:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:20:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:20:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:20:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:20:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:20:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:20:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:20:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:20:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:20:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
+[05/10 16:20:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:20:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:20:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005519m
+[05/10 16:20:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:20:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:20:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:20:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70556433  0.8489907   0.00551935] yaw=-163.8deg
+[05/10 16:20:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:20:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:20:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79733617 -0.0107319   0.00551935] yaw=161.1deg
+[05/10 16:20:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:20:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:20:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.1ms, total=182.1ms
+[05/10 16:20:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.706, 0.849, 0.006)
+[05/10 16:20:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg
+[05/10 16:20:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.062m
+[05/10 16:20:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:20:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:20:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:20:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:20:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:20:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 16:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 16:20:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:20:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:20:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 16:20:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.635s, found feasible grasp: True
+[05/10 16:20:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.618[m] 87.449[deg]
+[05/10 16:20:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:21:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:21:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:21:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:23:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:23:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:23:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:23:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:23:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:23:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:23:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.34s (batch: 4.19s, save: 8.15s)
+[05/10 16:23:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.94s:
+  episode_total: mean=105.88s, total=211.75s, count=2, min=3358.9ms, max=208394.3ms
+  sensor_polling: mean=534.5ms, total=160.35s, count=300, min=450.8ms, max=1017.7ms
+  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8151.1ms, max=8151.1ms
+  physics_step: mean=26.1ms, total=7.83s, count=300, min=18.6ms, max=84.1ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4186.0ms, max=4186.0ms
+  task_sampling: mean=471.3ms, total=942.6ms, count=2, min=439.9ms, max=502.7ms
+  task_specific_sample: mean=467.7ms, total=935.3ms, count=2, min=436.8ms, max=498.6ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=443.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:23:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:23:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:23:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:23:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:23:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:23:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:23:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:23:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:23:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:23:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:23:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
+[05/10 16:23:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:23:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:23:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041867m
+[05/10 16:23:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:23:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:23:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:23:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04484886  0.87475995  0.04186663] yaw=-146.6deg
+[05/10 16:23:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:23:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:23:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=205.9ms, total=205.9ms
+[05/10 16:23:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.045, 0.875, 0.042)
+[05/10 16:23:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.6 deg
+[05/10 16:23:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
+[05/10 16:23:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:23:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:23:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:23:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:23:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:23:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 16:23:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
+[05/10 16:23:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:23:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:23:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 16:23:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.587s, found feasible grasp: True
+[05/10 16:23:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.310[m] 87.013[deg]
+[05/10 16:23:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:24:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:24:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:24:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:26:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:26:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:26:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:26:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 284 timesteps
+[05/10 16:26:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:26:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:26:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.60s (batch: 4.29s, save: 8.30s)
+[05/10 16:26:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.57s:
+  episode_total: mean=198.63s, total=198.63s, count=1, min=198630.7ms, max=198630.7ms
+  sensor_polling: mean=536.9ms, total=151.94s, count=283, min=449.0ms, max=987.9ms
+  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8303.4ms, max=8303.4ms
+  physics_step: mean=26.2ms, total=7.41s, count=283, min=16.1ms, max=66.7ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.1ms, max=4293.1ms
+  task_sampling: mean=571.8ms, total=571.8ms, count=1, min=571.8ms, max=571.8ms
+  task_specific_sample: mean=567.5ms, total=567.5ms, count=1, min=567.5ms, max=567.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=572.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:26:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:26:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:26:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:26:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:26:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:26:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:26:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:26:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 16:26:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:26:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:26:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052555m
+[05/10 16:26:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:26:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:26:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.04097692  1.03950816  0.05255549] yaw=-146.9deg
+[05/10 16:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80319627  0.62207066  0.05255549] yaw=-180.2deg
+[05/10 16:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:26:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77152025  0.36809211  0.05255549] yaw=175.3deg
+[05/10 16:26:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:26:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:26:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=289.9ms, total=290.0ms
+[05/10 16:26:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.041, 1.040, 0.053)
+[05/10 16:26:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.9 deg
+[05/10 16:26:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
+[05/10 16:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:26:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:27:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:27:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 16:27:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 16:27:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:27:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:27:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 16:27:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True
+[05/10 16:27:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.446[m] 84.041[deg]
+[05/10 16:27:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:27:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:27:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:27:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:29:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:29:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:29:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:29:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:29:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:29:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:29:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:29:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:29:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps
+[05/10 16:29:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True
+[05/10 16:29:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.213[deg]
+[05/10 16:29:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:29:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:29:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:29:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:29:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:29:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:29:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:29:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:29:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:29:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:29:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:29:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
+[05/10 16:29:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:29:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:29:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038540m
+[05/10 16:29:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:29:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:29:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:29:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7607886   0.27304559  0.03854009] yaw=176.0deg
+[05/10 16:29:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:29:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94789648  0.18629998  0.03854009] yaw=154.5deg
+[05/10 16:29:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:29:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82501117  0.05040355  0.03854009] yaw=146.3deg
+[05/10 16:29:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:29:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:29:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.8ms, total=165.8ms
+[05/10 16:29:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.273, 0.039)
+[05/10 16:29:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg
+[05/10 16:29:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.964m
+[05/10 16:29:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:29:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:29:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:29:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:29:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:29:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 16:29:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 16:29:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:29:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:29:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 16:29:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True
+[05/10 16:29:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.504[m] 81.801[deg]
+[05/10 16:29:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:30:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:30:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:30:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:32:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:32:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:32:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:32:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:33:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:33:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:33:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.23s (batch: 5.74s, save: 9.49s)
+[05/10 16:33:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.05s:
+  episode_total: mean=185.59s, total=371.18s, count=2, min=162157.6ms, max=209022.8ms
+  sensor_polling: mean=488.1ms, total=285.53s, count=585, min=456.1ms, max=896.9ms
+  physics_step: mean=23.5ms, total=13.73s, count=585, min=16.4ms, max=73.1ms
+  save_trajectories: mean=9.49s, total=9.49s, count=1, min=9490.9ms, max=9490.9ms
+  save_batch_prep: mean=5.74s, total=5.74s, count=1, min=5736.0ms, max=5736.0ms
+  task_sampling: mean=526.7ms, total=1.05s, count=2, min=451.6ms, max=601.8ms
+  task_specific_sample: mean=522.6ms, total=1.05s, count=2, min=447.1ms, max=598.1ms
+  scene_randomize: mean=2.5ms, total=5.1ms, count=2, min=2.5ms, max=2.6ms
+  mj_forward_sync: mean=444.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:33:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:33:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:33:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:33:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:33:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:33:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:33:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:33:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:33:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:33:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:33:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
+[05/10 16:33:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:33:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:33:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020172m
+[05/10 16:33:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:33:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:33:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:33:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:33:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83671046  0.766323    0.02017168] yaw=-155.3deg
+[05/10 16:33:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:33:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72627142  0.51052438  0.02017168] yaw=-185.7deg
+[05/10 16:33:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:33:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:33:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=250.8ms, total=250.8ms
+[05/10 16:33:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.837, 0.766, 0.020)
+[05/10 16:33:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.3 deg
+[05/10 16:33:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
+[05/10 16:33:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:33:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:33:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:33:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:33:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:33:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 16:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 16:33:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:33:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:33:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 16:33:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.839s, found feasible grasp: True
+[05/10 16:33:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.467[m] 86.557[deg]
+[05/10 16:33:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:34:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:34:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:36:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:36:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:36:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:36:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:36:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:36:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:36:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.04s (batch: 4.64s, save: 10.40s)
+[05/10 16:36:50 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.58s:
+  episode_total: mean=215.64s, total=215.64s, count=1, min=215642.0ms, max=215642.0ms
+  sensor_polling: mean=526.6ms, total=157.97s, count=300, min=444.7ms, max=919.2ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10402.6ms, max=10402.6ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.7ms, max=102.4ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4641.8ms, max=4641.8ms
+  task_sampling: mean=576.1ms, total=576.1ms, count=1, min=576.1ms, max=576.1ms
+  task_specific_sample: mean=571.1ms, total=571.1ms, count=1, min=571.1ms, max=571.1ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=585.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:36:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:36:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:36:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:36:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:36:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:36:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:36:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:36:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:36:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:36:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:36:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
+[05/10 16:36:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:36:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:36:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000285m
+[05/10 16:36:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:36:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:36:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:36:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.92559462e-01  9.56818635e-02  2.84902172e-04] yaw=164.3deg
+[05/10 16:36:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:36:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.08635840e-01  1.23819855e-01  2.84902172e-04] yaw=160.4deg
+[05/10 16:36:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:36:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-8.25366438e-01  5.24402946e-01  2.84902172e-04] yaw=-179.9deg
+[05/10 16:36:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:36:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:36:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.4ms
+[05/10 16:36:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.096, 0.000)
+[05/10 16:36:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.3 deg
+[05/10 16:36:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.081m
+[05/10 16:36:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:36:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:36:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:36:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:36:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:36:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 16:36:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.137s
+[05/10 16:36:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:36:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:36:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 16:36:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.491s, found feasible grasp: True
+[05/10 16:36:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.658[m] 92.845[deg]
+[05/10 16:36:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:36:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:36:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:38:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:39:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:39:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:40:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:40:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:40:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:40:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:40:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:40:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.83s (batch: 4.31s, save: 9.52s)
+[05/10 16:40:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.54s:
+  episode_total: mean=224.47s, total=224.47s, count=1, min=224474.0ms, max=224474.0ms
+  sensor_polling: mean=511.0ms, total=153.30s, count=300, min=437.9ms, max=897.6ms
+  save_trajectories: mean=9.52s, total=9.52s, count=1, min=9523.6ms, max=9523.6ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.2ms, max=64.3ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4310.3ms, max=4310.3ms
+  task_sampling: mean=538.2ms, total=538.2ms, count=1, min=538.2ms, max=538.2ms
+  task_specific_sample: mean=533.7ms, total=533.7ms, count=1, min=533.7ms, max=533.7ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=527.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:40:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:40:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:40:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:40:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:40:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:40:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:40:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:40:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:40:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:40:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:40:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
+[05/10 16:40:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:40:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:40:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045059m
+[05/10 16:40:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:40:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:40:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:40:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:40:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00141628  0.81506613  0.04505875] yaw=-163.7deg
+[05/10 16:40:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:40:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70632328  0.59303034  0.04505875] yaw=-184.2deg
+[05/10 16:40:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:40:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:40:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:40:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.06203591  1.08307883  0.04505875] yaw=-133.3deg
+[05/10 16:40:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:40:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:40:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.2ms, total=183.3ms
+[05/10 16:40:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.815, 0.045)
+[05/10 16:40:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.7 deg
+[05/10 16:40:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.776m
+[05/10 16:40:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:40:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:40:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:40:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:40:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:40:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 16:40:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.164s
+[05/10 16:40:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:40:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:40:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.195s, found 88 non-colliding grasps
+[05/10 16:40:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.218s, found feasible grasp: True
+[05/10 16:40:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.321[m] 78.504[deg]
+[05/10 16:40:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:40:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:41:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:41:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:43:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:43:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:43:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:43:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 285 timesteps
+[05/10 16:43:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:43:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:43:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.20s (batch: 3.82s, save: 9.38s)
+[05/10 16:43:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.52s:
+  episode_total: mean=193.40s, total=193.40s, count=1, min=193402.8ms, max=193402.8ms
+  sensor_polling: mean=500.3ms, total=142.08s, count=284, min=445.4ms, max=998.5ms
+  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9380.3ms, max=9380.3ms
+  physics_step: mean=23.8ms, total=6.76s, count=284, min=18.9ms, max=56.1ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3815.2ms, max=3815.2ms
+  task_sampling: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms
+  task_specific_sample: mean=511.5ms, total=511.5ms, count=1, min=511.5ms, max=511.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=533.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:43:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:43:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:43:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:43:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:43:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:43:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:43:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:43:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:43:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:43:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:43:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
+[05/10 16:43:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:43:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:43:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067842m
+[05/10 16:43:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:43:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:43:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:43:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:43:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:43:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:43:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:43:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73205294  0.98727887  0.06784189] yaw=-151.3deg
+[05/10 16:43:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:43:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8019243   0.05748398  0.06784189] yaw=164.8deg
+[05/10 16:43:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:43:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.65465169  0.49916039  0.06784189] yaw=-172.0deg
+[05/10 16:43:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:43:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:43:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.4ms, total=383.5ms
+[05/10 16:43:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.732, 0.987, 0.068)
+[05/10 16:43:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.3 deg
+[05/10 16:43:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.094m
+[05/10 16:43:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:43:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:43:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:43:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:43:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:43:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 16:43:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.125s
+[05/10 16:43:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:43:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:43:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 16:43:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.773s, found feasible grasp: True
+[05/10 16:43:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.680[m] 87.312[deg]
+[05/10 16:43:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:44:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:44:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:45:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:45:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:45:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:46:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:46:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:46:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:46:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:47:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:47:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:47:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.04s (batch: 4.77s, save: 8.27s)
+[05/10 16:47:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.74s:
+  episode_total: mean=192.61s, total=192.61s, count=1, min=192606.6ms, max=192606.6ms
+  sensor_polling: mean=467.2ms, total=140.17s, count=300, min=402.3ms, max=959.9ms
+  save_trajectories: mean=8.27s, total=8.27s, count=1, min=8273.6ms, max=8273.6ms
+  physics_step: mean=22.0ms, total=6.60s, count=300, min=14.1ms, max=49.9ms
+  save_batch_prep: mean=4.77s, total=4.77s, count=1, min=4769.0ms, max=4769.0ms
+  task_sampling: mean=743.7ms, total=743.7ms, count=1, min=743.7ms, max=743.7ms
+  task_specific_sample: mean=733.0ms, total=733.0ms, count=1, min=733.0ms, max=733.0ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=388.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:47:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:47:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:47:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:47:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:47:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:47:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:47:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:47:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:47:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:47:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:47:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/10 16:47:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:47:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:47:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032079m
+[05/10 16:47:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:47:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:47:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:47:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:47:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:47:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82303894  0.95346006  0.0320795 ] yaw=-162.4deg
+[05/10 16:47:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:47:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70354347  0.79384768  0.0320795 ] yaw=-161.5deg
+[05/10 16:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:47:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.83626108  0.88553767  0.0320795 ] yaw=-165.6deg
+[05/10 16:47:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:47:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:47:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.9ms, total=254.9ms
+[05/10 16:47:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.953, 0.032)
+[05/10 16:47:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.4 deg
+[05/10 16:47:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
+[05/10 16:47:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:47:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:47:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:47:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:47:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:47:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 16:47:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 16:47:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:47:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:47:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 16:47:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.601s, found feasible grasp: True
+[05/10 16:47:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.604[m] 87.373[deg]
+[05/10 16:47:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:47:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:47:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:49:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:50:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:50:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 3/4: 1 episodes
+[05/10 16:50:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:50:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:50:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:50:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.21s (batch: 3.97s, save: 9.24s)
+[05/10 16:50:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.57s:
+  episode_total: mean=193.22s, total=193.22s, count=1, min=193224.1ms, max=193224.1ms
+  sensor_polling: mean=469.1ms, total=140.72s, count=300, min=407.9ms, max=1029.1ms
+  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9238.8ms, max=9238.8ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=17.1ms, max=60.8ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3972.9ms, max=3972.9ms
+  task_sampling: mean=566.1ms, total=566.1ms, count=1, min=566.1ms, max=566.1ms
+  task_specific_sample: mean=562.6ms, total=562.6ms, count=1, min=562.6ms, max=562.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=378.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:50:22 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
+[05/10 16:50:22 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
+[05/10 16:50:22 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/16 successful episodes
+[05/10 16:50:22 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/16 successful, 16 episodes, total_time=6205.07s
+  House averages:
+  episode_total: mean=186.63s, total=3359.42s, count=18, min=3358.9ms, max=224474.0ms
+  sensor_polling: mean=498.9ms, total=2508.37s, count=5028, min=384.1ms, max=1121.7ms
+  save_trajectories: mean=9.60s, total=124.77s, count=13, min=8151.1ms, max=11641.7ms
+  physics_step: mean=24.1ms, total=121.40s, count=5028, min=12.4ms, max=114.5ms
+  save_batch_prep: mean=4.34s, total=56.42s, count=13, min=3617.7ms, max=5736.0ms
+  task_sampling: mean=806.6ms, total=14.52s, count=18, min=345.2ms, max=5124.4ms
+  task_specific_sample: mean=554.3ms, total=9.98s, count=18, min=341.2ms, max=782.7ms
+  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
+  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
+  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
+  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
+  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
+  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
+  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
+  mj_forward_sync: mean=506.5us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  policy_setup: mean=21.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 16:50:22 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 16:50:22 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=6205.07s
+  Worker averages:
+  episode_total: mean=186.63s, total=3359.42s, count=18, min=3358.9ms, max=224474.0ms
+  sensor_polling: mean=498.9ms, total=2508.37s, count=5028, min=384.1ms, max=1121.7ms
+  save_trajectories: mean=9.60s, total=124.77s, count=13, min=8151.1ms, max=11641.7ms
+  physics_step: mean=24.1ms, total=121.40s, count=5028, min=12.4ms, max=114.5ms
+  save_batch_prep: mean=4.34s, total=56.42s, count=13, min=3617.7ms, max=5736.0ms
+  task_sampling: mean=806.6ms, total=14.52s, count=18, min=345.2ms, max=5124.4ms
+  task_specific_sample: mean=554.3ms, total=9.98s, count=18, min=341.2ms, max=782.7ms
+  scene_load: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
+  scene_env_create: mean=3.02s, total=3.02s, count=1, min=3020.3ms, max=3020.3ms
+  scene_compile: mean=1.13s, total=1.13s, count=1, min=1127.0ms, max=1127.0ms
+  compile_mujoco: mean=602.2ms, total=602.2ms, count=1, min=602.2ms, max=602.2ms
+  compile_xml_load: mean=462.4ms, total=462.4ms, count=1, min=462.4ms, max=462.4ms
+  scene_init: mean=245.0ms, total=245.0ms, count=1, min=245.0ms, max=245.0ms
+  scene_asset_install: mean=66.9ms, total=66.9ms, count=1, min=66.9ms, max=66.9ms
+  scene_randomize: mean=2.4ms, total=43.6ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_grasps: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  compile_aux_policy_objects: mean=38.9ms, total=38.9ms, count=1, min=38.9ms, max=38.9ms
+  asset_install_objects: mean=18.7ms, total=18.7ms, count=1, min=18.7ms, max=18.7ms
+  compile_robot_add: mean=15.2ms, total=15.2ms, count=1, min=15.2ms, max=15.2ms
+  mj_forward_sync: mean=506.5us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  policy_setup: mean=21.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 16:50:25 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 16:50:25 INFO pipeline.py:1491] Success count: 13, Total count: 16
+[05/10 16:50:25 INFO pipeline.py:1492] Success rate: 81.25%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_003
+==========================================
diff --git a/fridge_7/chunk_003/shard_4_of_4.log b/fridge_7/chunk_003/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..e4f5e5325532b58515b131c8181b4fa1353f93ca
--- /dev/null
+++ b/fridge_7/chunk_003/shard_4_of_4.log
@@ -0,0 +1,1717 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_003
+  shard=4/4  seed=20304  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:53:50 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 15:53:50 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 15:53:50 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_003'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 15:53:50 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_003'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f41cee54850>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20304,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:53:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 15:53:50 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 15:53:50 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 139920615189968 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 139920615189968 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 139920615189968 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 139920615189968 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 139920614074896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139920614074896 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139920614071696 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139920614071696 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139920614071696 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139920614071696 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139920614074896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139920614074896 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139920615217552 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139920615217552 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139920615214992 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139920615214992 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 139920615214992 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139920615214992 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139920615217552 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139920615217552 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 15:53:51 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 62005ebcaa00 at 0x7f41cf037510>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 62005ebf85a0 at 0x7f41cf044d10>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 62005ebf85a0 at 0x7f41cefbec50>
+[05/10 15:53:54 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 15:53:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:53:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:53:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:53:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:53:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:53:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:53:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 15:53:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:53:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:53:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011011m
+[05/10 15:53:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:53:54 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 15:53:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:53:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79500019  0.82385382  0.01101109] yaw=-170.5deg
+[05/10 15:53:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:53:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0366573   0.87764913  0.01101109] yaw=-142.6deg
+[05/10 15:53:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:53:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:53:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:53:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=28.9ms, retries=298.4ms, total=327.3ms
+[05/10 15:53:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.795, 0.824, 0.011)
+[05/10 15:53:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.5 deg
+[05/10 15:53:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.970m
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:53:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:53:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:53:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 15:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.914s
+[05/10 15:54:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:54:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:54:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 15:54:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.585s, found feasible grasp: True
+[05/10 15:54:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.594[m] 97.665[deg]
+[05/10 15:54:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:55:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:56:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 15:57:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:57:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 15:57:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 15:57:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 15:57:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 15:57:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.44s (batch: 3.99s, save: 9.44s)
+[05/10 15:57:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.59s:
+  episode_total: mean=215.31s, total=215.31s, count=1, min=215305.2ms, max=215305.2ms
+  sensor_polling: mean=448.8ms, total=134.65s, count=300, min=394.8ms, max=690.5ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9443.6ms, max=9443.6ms
+  physics_step: mean=20.7ms, total=6.21s, count=300, min=13.7ms, max=47.7ms
+  task_sampling: mean=4.59s, total=4.59s, count=1, min=4591.1ms, max=4591.1ms
+  save_batch_prep: mean=3.99s, total=3.99s, count=1, min=3992.2ms, max=3992.2ms
+  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
+  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
+  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
+  task_specific_sample: mean=800.3ms, total=800.3ms, count=1, min=800.3ms, max=800.3ms
+  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
+  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
+  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
+  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=506.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=48.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 15:57:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 15:57:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 15:57:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 15:57:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:57:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:57:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:57:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:57:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 15:57:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 15:57:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 15:57:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 15:57:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 15:57:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 15:57:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082460m
+[05/10 15:57:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 15:57:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 15:57:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 15:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89686507  0.82581384  0.08246013] yaw=-149.4deg
+[05/10 15:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 15:57:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:57:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 15:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85648088  0.09945285  0.08246013] yaw=150.5deg
+[05/10 15:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 15:57:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92949959  0.44741671  0.08246013] yaw=172.4deg
+[05/10 15:57:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 15:57:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 15:57:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.4ms, total=127.5ms
+[05/10 15:57:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.897, 0.826, 0.082)
+[05/10 15:57:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.4 deg
+[05/10 15:57:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
+[05/10 15:57:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 15:57:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 15:57:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 15:57:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 15:57:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 15:57:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 15:57:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.102s
+[05/10 15:57:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 15:57:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 15:57:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 15:57:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.015s, found feasible grasp: True
+[05/10 15:57:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.440[m] 86.737[deg]
+[05/10 15:57:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 15:57:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 15:57:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 15:58:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 15:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 15:58:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 15:59:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:00:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:00:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:00:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:00:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:00:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:00:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.51s (batch: 4.10s, save: 10.41s)
+[05/10 16:00:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.36s:
+  episode_total: mean=189.78s, total=189.78s, count=1, min=189778.1ms, max=189778.1ms
+  sensor_polling: mean=467.8ms, total=140.33s, count=300, min=399.7ms, max=804.2ms
+  save_trajectories: mean=10.41s, total=10.41s, count=1, min=10405.8ms, max=10405.8ms
+  physics_step: mean=21.9ms, total=6.56s, count=300, min=17.0ms, max=69.7ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4102.6ms, max=4102.6ms
+  task_sampling: mean=362.2ms, total=362.2ms, count=1, min=362.2ms, max=362.2ms
+  task_specific_sample: mean=357.8ms, total=357.8ms, count=1, min=357.8ms, max=357.8ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=498.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:00:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:00:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:00:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:00:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:00:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:00:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:00:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
+[05/10 16:00:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:00:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:00:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014705m
+[05/10 16:00:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:00:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:00:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:39 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.4ms, total=143.5ms
+[05/10 16:00:39 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 16:00:39 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 16:00:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:00:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:00:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:00:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:00:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:00:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:00:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:00:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:00:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:00:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:00:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
+[05/10 16:00:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:00:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:00:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.049298m
+[05/10 16:00:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:00:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:00:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:00:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92679836  0.60491503  0.04929792] yaw=-176.5deg
+[05/10 16:00:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:00:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85195048  0.08974893  0.04929792] yaw=150.2deg
+[05/10 16:00:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:00:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:00:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82921549  0.86571128  0.04929792] yaw=-151.0deg
+[05/10 16:00:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:00:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:00:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.1ms, total=84.1ms
+[05/10 16:00:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.605, 0.049)
+[05/10 16:00:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.5 deg
+[05/10 16:00:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.785m
+[05/10 16:00:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:00:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:00:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:00:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:00:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:00:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 16:00:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 16:00:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:00:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:00:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 16:00:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.410s, found feasible grasp: True
+[05/10 16:00:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.320[m] 83.067[deg]
+[05/10 16:00:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:00:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:00:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:01:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:01:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:03:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:03:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:03:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:03:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 285 timesteps
+[05/10 16:03:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:03:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:03:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.93s (batch: 4.74s, save: 10.19s)
+[05/10 16:03:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.34s:
+  episode_total: mean=92.72s, total=185.44s, count=2, min=153.9ms, max=185283.0ms
+  sensor_polling: mean=466.8ms, total=132.58s, count=284, min=397.1ms, max=774.4ms
+  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10190.1ms, max=10190.1ms
+  physics_step: mean=22.7ms, total=6.43s, count=284, min=17.2ms, max=85.6ms
+  save_batch_prep: mean=4.74s, total=4.74s, count=1, min=4742.6ms, max=4742.6ms
+  task_specific_sample: mean=242.5ms, total=485.0ms, count=2, min=148.7ms, max=336.4ms
+  task_sampling: mean=339.0ms, total=339.0ms, count=1, min=339.0ms, max=339.0ms
+  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.4ms
+  mj_forward_sync: mean=407.4us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:03:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:03:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:03:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:03:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:03:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:03:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:03:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:03:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:03:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:03:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:03:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
+[05/10 16:03:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:03:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:03:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051112m
+[05/10 16:03:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:03:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:03:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91436013  0.85256996  0.0511119 ] yaw=-158.1deg
+[05/10 16:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87781191  1.18163297  0.0511119 ] yaw=-131.7deg
+[05/10 16:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85473775  0.66720945  0.0511119 ] yaw=-176.1deg
+[05/10 16:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:03:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:03:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.1ms, total=175.1ms
+[05/10 16:03:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.853, 0.051)
+[05/10 16:03:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg
+[05/10 16:03:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.871m
+[05/10 16:03:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:03:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:03:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:03:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:03:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:03:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 16:03:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 16:03:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:03:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:03:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 16:03:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True
+[05/10 16:03:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 92.317[deg]
+[05/10 16:03:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:04:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:04:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:04:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:06:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:07:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:07:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:07:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:07:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:07:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:07:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.80s (batch: 4.34s, save: 9.45s)
+[05/10 16:07:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s:
+  episode_total: mean=211.05s, total=211.05s, count=1, min=211050.7ms, max=211050.7ms
+  sensor_polling: mean=532.7ms, total=159.82s, count=300, min=452.1ms, max=927.0ms
+  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9453.4ms, max=9453.4ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=15.9ms, max=105.2ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.1ms, max=4342.1ms
+  task_sampling: mean=453.1ms, total=453.1ms, count=1, min=453.1ms, max=453.1ms
+  task_specific_sample: mean=449.2ms, total=449.2ms, count=1, min=449.2ms, max=449.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=464.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:07:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:07:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:07:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:07:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:07:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:07:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:07:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:07:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:07:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:07:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:07:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 16:07:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:07:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:07:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021284m
+[05/10 16:07:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:07:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:07:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:07:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:07:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78428527  0.53661773  0.02128433] yaw=-177.2deg
+[05/10 16:07:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:07:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75751337  0.22356384  0.02128433] yaw=170.0deg
+[05/10 16:07:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:07:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:07:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.1ms, total=179.1ms
+[05/10 16:07:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.537, 0.021)
+[05/10 16:07:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.2 deg
+[05/10 16:07:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
+[05/10 16:07:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:07:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:07:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:07:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:07:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:07:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 16:07:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 16:07:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:07:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:07:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 16:07:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
+[05/10 16:07:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.458[m] 89.637[deg]
+[05/10 16:07:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:07:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:07:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:08:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:10:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:10:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:10:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:10:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:10:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:10:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:10:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.66s (batch: 4.56s, save: 9.10s)
+[05/10 16:10:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.48s:
+  episode_total: mean=208.11s, total=208.11s, count=1, min=208112.0ms, max=208112.0ms
+  sensor_polling: mean=525.9ms, total=157.77s, count=300, min=444.5ms, max=860.4ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9098.5ms, max=9098.5ms
+  physics_step: mean=27.4ms, total=8.21s, count=300, min=15.7ms, max=100.1ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4557.6ms, max=4557.6ms
+  task_sampling: mean=477.0ms, total=477.0ms, count=1, min=477.0ms, max=477.0ms
+  task_specific_sample: mean=473.5ms, total=473.5ms, count=1, min=473.5ms, max=473.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=457.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:10:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:10:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:10:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:10:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:10:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:10:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:10:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:10:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 16:10:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:10:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:10:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027659m
+[05/10 16:10:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:10:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:10:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:10:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76199908  0.39991185  0.02765918] yaw=174.5deg
+[05/10 16:10:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:10:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:10:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:10:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73440049  0.34856376  0.02765918] yaw=164.5deg
+[05/10 16:10:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:10:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73547019  0.34422849  0.02765918] yaw=161.6deg
+[05/10 16:10:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:10:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:10:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.4ms, total=133.5ms
+[05/10 16:10:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.400, 0.028)
+[05/10 16:10:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.5 deg
+[05/10 16:10:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.944m
+[05/10 16:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:10:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:10:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 16:10:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 16:10:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:10:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:10:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 16:10:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.549s, found feasible grasp: True
+[05/10 16:10:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.517[m] 96.274[deg]
+[05/10 16:10:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:10:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:10:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:11:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:12:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:13:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:14:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:14:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:14:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:14:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:14:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:14:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.93s (batch: 4.17s, save: 8.76s)
+[05/10 16:14:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=213.49s, total=213.49s, count=1, min=213490.3ms, max=213490.3ms
+  sensor_polling: mean=548.6ms, total=164.58s, count=300, min=449.1ms, max=955.0ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.5ms, max=8756.5ms
+  physics_step: mean=26.6ms, total=7.97s, count=300, min=19.3ms, max=99.9ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.2ms, max=4169.2ms
+  task_sampling: mean=427.2ms, total=427.2ms, count=1, min=427.2ms, max=427.2ms
+  task_specific_sample: mean=423.1ms, total=423.1ms, count=1, min=423.1ms, max=423.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=453.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:14:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:14:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:14:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:14:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:14:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:14:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:14:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:14:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:14:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:14:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:14:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 16:14:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:14:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:14:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034588m
+[05/10 16:14:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:14:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:14:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:14:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90001371  0.45782883  0.03458801] yaw=170.0deg
+[05/10 16:14:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:14:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:14:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:14:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:14:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:14:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98531448  0.81537532  0.03458801] yaw=-146.1deg
+[05/10 16:14:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:14:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98926225  0.90092376  0.03458801] yaw=-138.9deg
+[05/10 16:14:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:14:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:14:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=250.3ms, total=250.3ms
+[05/10 16:14:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.458, 0.035)
+[05/10 16:14:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg
+[05/10 16:14:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.803m
+[05/10 16:14:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:14:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:14:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:14:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:14:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:14:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 16:14:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.108s
+[05/10 16:14:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:14:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:14:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 16:14:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True
+[05/10 16:14:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.341[m] 80.022[deg]
+[05/10 16:14:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:15:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:15:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:15:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:17:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:17:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:17:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:17:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
+[05/10 16:17:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:17:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:17:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 15.80s (batch: 4.84s, save: 10.96s)
+[05/10 16:17:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s:
+  episode_total: mean=201.70s, total=201.70s, count=1, min=201695.8ms, max=201695.8ms
+  sensor_polling: mean=519.9ms, total=149.72s, count=288, min=436.0ms, max=797.4ms
+  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10964.7ms, max=10964.7ms
+  physics_step: mean=28.2ms, total=8.13s, count=288, min=16.4ms, max=83.0ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4839.2ms, max=4839.2ms
+  task_sampling: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms
+  task_specific_sample: mean=555.0ms, total=555.0ms, count=1, min=555.0ms, max=555.0ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=634.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:17:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:17:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:17:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:17:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:17:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:17:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:17:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:17:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:17:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:17:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:17:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 16:17:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:17:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:17:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009944m
+[05/10 16:17:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:17:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:17:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70033216  0.80277506  0.00994405] yaw=-170.9deg
+[05/10 16:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03097913  0.828807    0.00994405] yaw=-152.2deg
+[05/10 16:17:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:17:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:17:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.0ms
+[05/10 16:17:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.803, 0.010)
+[05/10 16:17:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.9 deg
+[05/10 16:17:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.052m
+[05/10 16:17:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:17:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:17:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:17:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:17:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:17:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 16:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 16:17:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:17:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:17:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 16:17:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.820s, found feasible grasp: True
+[05/10 16:17:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.607[m] 88.436[deg]
+[05/10 16:17:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:17:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:17:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:17:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:17:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:17:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:17:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:17:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:17:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:17:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:17:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:17:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
+[05/10 16:17:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:17:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:17:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032844m
+[05/10 16:17:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:17:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:17:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:17:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:17:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74052538  0.12196726  0.03284389] yaw=164.4deg
+[05/10 16:17:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:17:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89239633  0.27791917  0.03284389] yaw=177.0deg
+[05/10 16:17:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:17:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.16404811  1.03997636  0.03284389] yaw=-135.0deg
+[05/10 16:17:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:17:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:17:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.7ms, total=106.7ms
+[05/10 16:17:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.741, 0.122, 0.033)
+[05/10 16:17:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg
+[05/10 16:17:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
+[05/10 16:17:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:17:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:17:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:17:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:17:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:17:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 16:17:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 16:17:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:17:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:17:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 16:17:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.950s, found feasible grasp: True
+[05/10 16:17:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.563[m] 87.021[deg]
+[05/10 16:17:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:17:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:17:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:19:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:19:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:19:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:20:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:21:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:21:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:21:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:21:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:21:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:21:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 14.34s (batch: 5.03s, save: 9.31s)
+[05/10 16:21:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
+  episode_total: mean=111.34s, total=222.69s, count=2, min=3924.5ms, max=218764.2ms
+  sensor_polling: mean=534.0ms, total=160.21s, count=300, min=459.3ms, max=852.5ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9305.7ms, max=9305.7ms
+  physics_step: mean=27.7ms, total=8.30s, count=300, min=19.0ms, max=61.0ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5033.5ms, max=5033.5ms
+  task_sampling: mean=460.6ms, total=921.1ms, count=2, min=387.7ms, max=533.4ms
+  task_specific_sample: mean=456.2ms, total=912.5ms, count=2, min=384.2ms, max=528.3ms
+  scene_randomize: mean=2.6ms, total=5.1ms, count=2, min=1.5ms, max=3.6ms
+  mj_forward_sync: mean=608.1us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:21:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:21:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:21:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:21:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:21:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:21:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:21:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:21:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:21:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:21:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:21:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
+[05/10 16:21:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:21:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:21:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093497m
+[05/10 16:21:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:21:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:21:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:21:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99094009  0.1769598   0.0934975 ] yaw=155.8deg
+[05/10 16:21:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:21:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86959035  0.45016866  0.0934975 ] yaw=170.2deg
+[05/10 16:21:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:21:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72183036  0.01775648  0.0934975 ] yaw=159.9deg
+[05/10 16:21:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:21:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:21:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms
+[05/10 16:21:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.991, 0.177, 0.093)
+[05/10 16:21:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.8 deg
+[05/10 16:21:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
+[05/10 16:21:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:21:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:21:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:21:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:21:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:21:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 16:21:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
+[05/10 16:21:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:21:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:21:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 16:21:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.576s, found feasible grasp: True
+[05/10 16:21:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.376[m] 100.324[deg]
+[05/10 16:21:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:21:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:21:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:22:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:22:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:23:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:23:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:23:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:23:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:23:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:23:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:23:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
+[05/10 16:23:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.406s, found feasible grasp: True
+[05/10 16:23:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.183[deg]
+[05/10 16:23:24 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:23:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:23:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:23:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:23:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:23:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:23:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:23:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:23:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:23:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:23:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:23:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/10 16:23:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:23:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:23:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062068m
+[05/10 16:23:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:23:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:23:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:23:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67073229  0.82334331  0.06206791] yaw=-154.8deg
+[05/10 16:23:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:23:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84445441  0.52527591  0.06206791] yaw=-180.9deg
+[05/10 16:23:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:23:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:23:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76404605  0.63309722  0.06206791] yaw=-162.0deg
+[05/10 16:23:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:23:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:23:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.9ms, total=183.9ms
+[05/10 16:23:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.823, 0.062)
+[05/10 16:23:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.8 deg
+[05/10 16:23:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.087m
+[05/10 16:23:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:23:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:23:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:23:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:23:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:23:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 16:23:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 16:23:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:23:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:23:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 16:23:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.367s, found feasible grasp: True
+[05/10 16:23:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.672[m] 87.062[deg]
+[05/10 16:23:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:23:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:23:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:24:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:24:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 16:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:25:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:25:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:25:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 84 non-colliding grasps
+[05/10 16:25:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.900s, found feasible grasp: True
+[05/10 16:25:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.844[deg]
+[05/10 16:25:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:25:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:25:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:26:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=False
+[05/10 16:26:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=False episode_total=0.86s:
+  episode_total: mean=140.11s, total=280.22s, count=2, min=109913.9ms, max=170305.5ms
+  sensor_polling: mean=525.2ms, total=246.31s, count=469, min=433.2ms, max=941.6ms
+  physics_step: mean=25.4ms, total=11.92s, count=469, min=16.2ms, max=80.4ms
+  task_sampling: mean=429.0ms, total=858.1ms, count=2, min=403.1ms, max=454.9ms
+  task_specific_sample: mean=425.4ms, total=850.8ms, count=2, min=399.1ms, max=451.7ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=431.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 16:26:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:26:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:26:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:26:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:26:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:26:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:26:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:26:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:26:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:26:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:26:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 16:26:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:26:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:26:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013091m
+[05/10 16:26:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:26:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:26:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:26:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99154187  1.11633231  0.01309076] yaw=-135.1deg
+[05/10 16:26:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:26:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67323299  0.79388964  0.01309076] yaw=-152.2deg
+[05/10 16:26:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:26:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78917736  0.9803987   0.01309076] yaw=-159.0deg
+[05/10 16:26:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:26:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:26:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.5ms, total=202.5ms
+[05/10 16:26:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.992, 1.116, 0.013)
+[05/10 16:26:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.1 deg
+[05/10 16:26:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.953m
+[05/10 16:26:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:26:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:26:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:26:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:26:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:26:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 16:26:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
+[05/10 16:26:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:26:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:26:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 16:26:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.562s, found feasible grasp: True
+[05/10 16:26:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.535[m] 91.410[deg]
+[05/10 16:26:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:26:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:26:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:26:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:26:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:26:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:26:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:26:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:26:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:26:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:26:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:26:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 16:26:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:26:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:26:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087298m
+[05/10 16:26:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:26:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:26:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:26:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88063798  0.38033654  0.08729835] yaw=165.3deg
+[05/10 16:26:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:26:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:26:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93485014  0.31995196  0.08729835] yaw=177.5deg
+[05/10 16:26:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:26:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.15611414  1.15962341  0.08729835] yaw=-136.9deg
+[05/10 16:26:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:26:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:26:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.8ms
+[05/10 16:26:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.380, 0.087)
+[05/10 16:26:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.3 deg
+[05/10 16:26:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.828m
+[05/10 16:26:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:26:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:26:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:26:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:26:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:26:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 16:26:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 16:26:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:26:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:26:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 16:26:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True
+[05/10 16:26:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.413[m] 95.775[deg]
+[05/10 16:26:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:27:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:27:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:27:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:27:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:27:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:27:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:27:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:28:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:28:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:28:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
+[05/10 16:28:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.409s, found feasible grasp: True
+[05/10 16:28:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.185[deg]
+[05/10 16:28:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:28:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:28:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:28:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:28:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:29:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:29:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:29:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:29:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:29:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
+[05/10 16:29:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.454s, found feasible grasp: True
+[05/10 16:29:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.848[deg]
+[05/10 16:29:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:29:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:29:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:29:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:29:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:29:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:29:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:29:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:29:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:29:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:29:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:29:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.067m, effective arm-mount z=0.927m (base_body_z=0.067m, pedestal_h=0.860m)
+[05/10 16:29:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:29:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:29:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067332m
+[05/10 16:29:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:29:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:29:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:29:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09651482  1.05819427  0.06733227] yaw=-134.2deg
+[05/10 16:29:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:29:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:29:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86513804  0.44998153  0.06733227] yaw=187.8deg
+[05/10 16:29:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:29:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.20355933  1.06356037  0.06733227] yaw=-139.4deg
+[05/10 16:29:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:29:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:29:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.5ms, total=207.5ms
+[05/10 16:29:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.097, 1.058, 0.067)
+[05/10 16:29:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg
+[05/10 16:29:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.836m
+[05/10 16:29:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:29:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:29:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:29:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:29:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:29:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 16:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 16:29:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:29:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:29:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 16:29:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.598s, found feasible grasp: True
+[05/10 16:29:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.399[m] 84.356[deg]
+[05/10 16:29:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:29:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:29:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:29:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:30:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:30:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:31:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:31:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:31:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:31:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:31:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:31:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:31:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:31:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
+[05/10 16:31:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.662s, found feasible grasp: True
+[05/10 16:31:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.338[deg]
+[05/10 16:31:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:31:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:31:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:31:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:31:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:31:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:31:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:31:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:31:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:31:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:31:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:31:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 16:31:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:31:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:31:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087066m
+[05/10 16:31:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:31:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:31:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:31:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84669373  0.45903207  0.08706636] yaw=179.1deg
+[05/10 16:31:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:31:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:31:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94923896  0.4436376   0.08706636] yaw=177.4deg
+[05/10 16:31:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:31:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68722737  0.10985743  0.08706636] yaw=169.2deg
+[05/10 16:31:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:31:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:31:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.6ms, total=193.6ms
+[05/10 16:31:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.847, 0.459, 0.087)
+[05/10 16:31:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.1 deg
+[05/10 16:31:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.856m
+[05/10 16:31:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:31:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:31:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:31:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:31:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:31:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 16:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/10 16:31:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:31:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:31:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 16:31:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.520s, found feasible grasp: True
+[05/10 16:31:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.431[m] 97.445[deg]
+[05/10 16:31:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:32:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:34:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:35:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:35:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:35:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:35:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:35:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:35:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 13.06s (batch: 4.48s, save: 8.58s)
+[05/10 16:35:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.87s:
+  episode_total: mean=133.31s, total=533.25s, count=4, min=3236.5ms, max=214530.0ms
+  sensor_polling: mean=503.3ms, total=416.76s, count=828, min=433.8ms, max=1000.1ms
+  physics_step: mean=24.2ms, total=20.03s, count=828, min=15.8ms, max=98.2ms
+  save_trajectories: mean=8.58s, total=8.58s, count=1, min=8580.4ms, max=8580.4ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4483.0ms, max=4483.0ms
+  task_sampling: mean=468.2ms, total=1.87s, count=4, min=438.8ms, max=483.6ms
+  task_specific_sample: mean=464.7ms, total=1.86s, count=4, min=435.5ms, max=479.3ms
+  scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=1.2ms, max=1.4ms
+  mj_forward_sync: mean=464.3us, total=1.9ms, count=4, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 16:35:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:35:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:35:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:35:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:35:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:35:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:35:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:35:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 16:35:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:35:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:35:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043819m
+[05/10 16:35:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:35:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:35:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93857913  0.98534605  0.04381894] yaw=-150.8deg
+[05/10 16:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:35:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84877402  0.52257774  0.04381894] yaw=-183.6deg
+[05/10 16:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:35:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.1872983   1.10851821  0.04381894] yaw=-139.0deg
+[05/10 16:35:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:35:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:35:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.0ms
+[05/10 16:35:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.939, 0.985, 0.044)
+[05/10 16:35:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.8 deg
+[05/10 16:35:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.915m
+[05/10 16:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:35:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:35:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:35:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 16:35:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 16:35:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:35:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:35:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 16:35:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.693s, found feasible grasp: True
+[05/10 16:35:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.544[m] 88.557[deg]
+[05/10 16:35:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:36:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:36:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:38:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:38:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:38:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:38:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:38:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:38:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:38:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 12.90s (batch: 4.17s, save: 8.73s)
+[05/10 16:38:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.42s:
+  episode_total: mean=206.52s, total=206.52s, count=1, min=206517.8ms, max=206517.8ms
+  sensor_polling: mean=525.9ms, total=157.76s, count=300, min=437.1ms, max=1033.0ms
+  save_trajectories: mean=8.73s, total=8.73s, count=1, min=8727.0ms, max=8727.0ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.5ms, max=64.6ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4169.9ms, max=4169.9ms
+  task_sampling: mean=422.7ms, total=422.7ms, count=1, min=422.7ms, max=422.7ms
+  task_specific_sample: mean=418.8ms, total=418.8ms, count=1, min=418.8ms, max=418.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=443.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:38:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:38:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:38:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:38:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:38:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:38:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:38:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:38:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:38:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:38:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:38:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 16:38:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:38:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:38:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087057m
+[05/10 16:38:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:38:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:38:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:38:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:38:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03185565  0.12402814  0.08705666] yaw=150.6deg
+[05/10 16:38:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:38:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87424363  0.23141484  0.08705666] yaw=163.9deg
+[05/10 16:38:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:38:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10707826  0.96938523  0.08705666] yaw=-134.9deg
+[05/10 16:38:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:38:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:38:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.0ms
+[05/10 16:38:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.032, 0.124, 0.087)
+[05/10 16:38:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.6 deg
+[05/10 16:38:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m
+[05/10 16:38:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:38:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:38:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:38:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:38:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:38:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 16:38:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 16:38:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:38:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:38:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 16:38:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True
+[05/10 16:38:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.321[m] 91.371[deg]
+[05/10 16:38:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:38:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:38:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:39:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:40:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:40:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:40:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:40:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:40:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:40:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:40:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:40:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:40:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:40:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:40:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:40:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:40:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:40:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:40:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:40:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:40:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 74 non-colliding grasps
+[05/10 16:40:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 74 grasps in 1.956s, found feasible grasp: True
+[05/10 16:40:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.025[m] 3.367[deg]
+[05/10 16:40:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:40:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:41:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:41:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:41:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:41:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:41:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:41:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:41:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:41:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:41:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:41:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 68 non-colliding grasps
+[05/10 16:41:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.689s, found feasible grasp: True
+[05/10 16:41:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.033[m] 12.299[deg]
+[05/10 16:41:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:41:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:41:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:41:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:42:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:42:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:42:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_003 batch 4/4: 1 episodes
+[05/10 16:42:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:42:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:42:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_003
+[05/10 16:42:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_003 in 16.38s (batch: 4.83s, save: 11.54s)
+[05/10 16:42:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
+  episode_total: mean=250.00s, total=250.00s, count=1, min=249998.5ms, max=249998.5ms
+  sensor_polling: mean=514.7ms, total=154.40s, count=300, min=451.2ms, max=806.9ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11542.9ms, max=11542.9ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=14.4ms, max=110.1ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4833.6ms, max=4833.6ms
+  task_sampling: mean=440.3ms, total=440.3ms, count=1, min=440.3ms, max=440.3ms
+  task_specific_sample: mean=436.7ms, total=436.7ms, count=1, min=436.7ms, max=436.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=417.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:42:58 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
+[05/10 16:42:58 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_003
+[05/10 16:42:58 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/12 successful episodes
+[05/10 16:42:58 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5383.37s
+  House averages:
+  episode_total: mean=162.09s, total=2917.55s, count=18, min=153.9ms, max=249998.5ms
+  sensor_polling: mean=509.5ms, total=2174.87s, count=4269, min=394.8ms, max=1033.0ms
+  physics_step: mean=25.0ms, total=106.73s, count=4269, min=13.7ms, max=110.1ms
+  save_trajectories: mean=9.68s, total=106.47s, count=11, min=8580.4ms, max=11542.9ms
+  save_batch_prep: mean=4.48s, total=49.27s, count=11, min=3992.2ms, max=5033.5ms
+  task_sampling: mean=689.7ms, total=11.72s, count=17, min=339.0ms, max=4591.1ms
+  task_specific_sample: mean=445.6ms, total=8.02s, count=18, min=148.7ms, max=800.3ms
+  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
+  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
+  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
+  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
+  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
+  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
+  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
+  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.6ms
+  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  mj_forward_sync: mean=479.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 16:42:58 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 16:42:58 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5383.37s
+  Worker averages:
+  episode_total: mean=162.09s, total=2917.55s, count=18, min=153.9ms, max=249998.5ms
+  sensor_polling: mean=509.5ms, total=2174.87s, count=4269, min=394.8ms, max=1033.0ms
+  physics_step: mean=25.0ms, total=106.73s, count=4269, min=13.7ms, max=110.1ms
+  save_trajectories: mean=9.68s, total=106.47s, count=11, min=8580.4ms, max=11542.9ms
+  save_batch_prep: mean=4.48s, total=49.27s, count=11, min=3992.2ms, max=5033.5ms
+  task_sampling: mean=689.7ms, total=11.72s, count=17, min=339.0ms, max=4591.1ms
+  task_specific_sample: mean=445.6ms, total=8.02s, count=18, min=148.7ms, max=800.3ms
+  scene_load: mean=3.79s, total=3.79s, count=1, min=3788.0ms, max=3788.0ms
+  scene_env_create: mean=2.74s, total=2.74s, count=1, min=2740.1ms, max=2740.1ms
+  scene_compile: mean=868.2ms, total=868.2ms, count=1, min=868.2ms, max=868.2ms
+  compile_mujoco: mean=588.8ms, total=588.8ms, count=1, min=588.8ms, max=588.8ms
+  compile_xml_load: mean=192.9ms, total=192.9ms, count=1, min=192.9ms, max=192.9ms
+  task_sampling_failed: mean=153.9ms, total=153.9ms, count=1, min=153.9ms, max=153.9ms
+  scene_init: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
+  compile_aux_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  compile_aux_policy_objects: mean=63.9ms, total=63.9ms, count=1, min=63.9ms, max=63.9ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.1ms, max=3.6ms
+  scene_asset_install: mean=36.7ms, total=36.7ms, count=1, min=36.7ms, max=36.7ms
+  asset_install_grasps: mean=26.6ms, total=26.6ms, count=1, min=26.6ms, max=26.6ms
+  compile_robot_add: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  mj_forward_sync: mean=479.3us, total=8.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=21.0us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 16:43:01 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 16:43:01 INFO pipeline.py:1491] Success count: 11, Total count: 12
+[05/10 16:43:01 INFO pipeline.py:1492] Success rate: 91.67%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_003
+==========================================
diff --git a/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
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+++ b/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
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diff --git a/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
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diff --git a/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
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diff --git a/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/fridge_7/chunk_004/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
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diff --git a/fridge_7/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_004/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
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+05/10 16:51:10 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 16:51:10 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 16:51:10 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 16:51:10 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d4337615f50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20402,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 16:51:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 16:51:10 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 16:51:10 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 16:51:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 16:51:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 16:51:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 16:51:11 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78e2033b7650>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20404,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 16:51:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 16:51:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 16:51:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 16:51:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 16:51:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 16:51:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 16:51:11 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7746eb0fd310>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20401,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 16:51:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 16:51:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 16:51:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 16:51:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 16:51:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 16:51:11 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 16:51:11 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 16:51:11 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 16:51:11 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 16:51:11 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x765f86c78a90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20403,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 16:51:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 16:51:11 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 16:51:11 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 16:51:12 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 16:51:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 16:51:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 16:51:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 16:51:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 16:51:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:51:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:51:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:51:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:51:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:51:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020761m	[env.py: 870]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:51:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79766661  0.50718083  0.02076148] yaw=-175.2deg	[env.py: 1019]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85698145  0.34753821  0.02076148] yaw=168.2deg	[env.py: 1019]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1136326   0.95812965  0.02076148] yaw=-137.6deg	[env.py: 1019]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:51:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=15.1ms, retries=84.1ms, total=99.1ms	[env.py: 1075]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.507, 0.021)	[env.py: 1079]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:51:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 16:51:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 16:51:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:51:14 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:51:14 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 16:51:14 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 16:51:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:51:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:51:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:51:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:51:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:51:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:51:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075250m	[env.py: 870]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:51:14 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:51:14 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 16:51:14 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81497616  0.07697924  0.07525023] yaw=145.9deg	[env.py: 1019]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:51:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.817896    0.31723752  0.07525023] yaw=160.3deg	[env.py: 1019]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80449776  0.46495691  0.07525023] yaw=178.5deg	[env.py: 1019]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=14.8ms, retries=115.4ms, total=130.2ms	[env.py: 1075]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.077, 0.075)	[env.py: 1079]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 145.9 deg	[env.py: 1082]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:51:15 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 16:51:15 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 16:51:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 16:51:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 16:51:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:51:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:51:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:51:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:51:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:51:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001928m	[env.py: 870]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:51:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:15 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 16:51:15 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:51:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:51:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:51:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:51:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:51:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030327m	[env.py: 870]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:51:15 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09951756  1.22732743  0.00192841] yaw=-122.4deg	[env.py: 1019]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82873466  0.48844664  0.00192841] yaw=-180.7deg	[env.py: 1019]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62746716  0.66705975  0.00192841] yaw=-174.1deg	[env.py: 1019]
+05/10 16:51:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:51:15 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=34.9ms, retries=239.7ms, total=274.6ms	[env.py: 1075]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.227, 0.002)	[env.py: 1079]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.4 deg	[env.py: 1082]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74683193  0.43514448  0.03032691] yaw=184.4deg	[env.py: 1019]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:51:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.5ms, retries=374.4ms, total=390.8ms	[env.py: 1075]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.435, 0.030)	[env.py: 1079]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.4 deg	[env.py: 1082]
+05/10 16:51:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:51:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:51:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:51:15 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:51:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:51:15 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:51:44 INFO: [Worker 0] Warmed up parallel IK solver in 29.452s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:51:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:51:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:51:45 INFO: [Worker 0] Warmed up parallel IK solver in 29.987s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:51:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:51:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:51:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:51:46 INFO: [Worker 0] Warmed up parallel IK solver in 31.326s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:51:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:51:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:51:46 INFO: [Worker 0] Warmed up parallel IK solver in 30.410s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:51:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:51:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:51:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:51:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:51:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:51:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 85.380[deg]	[grasp_sample.py: 539]
+05/10 16:51:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:51:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:51:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.471[m] 92.240[deg]	[grasp_sample.py: 539]
+05/10 16:51:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:51:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:51:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:51:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:51:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:51:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.843s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:51:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.525[m] 90.416[deg]	[grasp_sample.py: 539]
+05/10 16:51:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.332s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:51:49 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.507[m] 81.826[deg]	[grasp_sample.py: 539]
+05/10 16:51:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:51:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:51:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:51:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:51:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:51:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:52:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:52:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:52:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:52:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:52:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:52:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:52:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:52:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:52:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:53:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:53:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:53:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:54:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:54:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:54:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:54:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:54:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:54:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.334[deg]	[grasp_sample.py: 539]
+05/10 16:54:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:54:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:54:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:54:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:54:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:54:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:54:35 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:54:38 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:54:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:54:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:54:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:54:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:54:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:54:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 16:54:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 16:54:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:54:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:54:59 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.837[deg]	[grasp_sample.py: 539]
+05/10 16:54:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:55:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:55:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:55:03 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 16:55:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 16:55:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:55:05 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 16:55:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=4.83s:
+  episode_total: mean=234.20s, total=234.20s, count=1, min=234201.6ms, max=234201.6ms
+  sensor_polling: mean=531.0ms, total=159.31s, count=300, min=437.7ms, max=870.9ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.1ms, max=76.9ms
+  task_sampling: mean=4.83s, total=4.83s, count=1, min=4826.3ms, max=4826.3ms
+  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
+  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
+  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
+  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
+  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
+  task_specific_sample: mean=720.8ms, total=720.8ms, count=1, min=720.8ms, max=720.8ms
+  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
+  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=633.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:55:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:55:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:55:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:55:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:55:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:55:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:55:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082231m	[env.py: 870]
+05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:55:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73835486  0.86721687  0.0822311 ] yaw=-148.1deg	[env.py: 1019]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68710551  0.47996575  0.0822311 ] yaw=183.9deg	[env.py: 1019]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76231803  0.41368338  0.0822311 ] yaw=171.7deg	[env.py: 1019]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:55:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.1ms, total=213.2ms	[env.py: 1075]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.867, 0.082)	[env.py: 1079]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/10 16:55:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/10 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:55:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:55:07 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:55:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:55:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:55:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:55:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:55:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 93.227[deg]	[grasp_sample.py: 539]
+05/10 16:55:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:55:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:55:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:55:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 16:55:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:55:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:55:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:55:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 16:55:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.23s (batch: 4.10s, save: 10.12s)	[pipeline.py: 300]
+05/10 16:55:14 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.91s:
+  episode_total: mean=242.78s, total=242.78s, count=1, min=242778.1ms, max=242778.1ms
+  sensor_polling: mean=525.7ms, total=157.71s, count=300, min=453.6ms, max=1035.2ms
+  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10120.9ms, max=10120.9ms
+  physics_step: mean=25.6ms, total=7.67s, count=300, min=18.8ms, max=112.1ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.5ms, max=4104.5ms
+  task_sampling: mean=3.91s, total=3.91s, count=1, min=3906.0ms, max=3906.0ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
+  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
+  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
+  task_specific_sample: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms
+  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
+  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
+  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
+  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
+  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=659.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:55:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:55:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:55:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:55:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:55:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:55:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:55:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006195m	[env.py: 870]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:55:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20249215  1.07275601  0.00619499] yaw=-136.2deg	[env.py: 1019]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9363735   0.65799917  0.00619499] yaw=-163.3deg	[env.py: 1019]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92782883  0.59133679  0.00619499] yaw=-166.0deg	[env.py: 1019]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:55:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=275.4ms, total=275.4ms	[env.py: 1075]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.202, 1.073, 0.006)	[env.py: 1079]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg	[env.py: 1082]
+05/10 16:55:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:55:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:55:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:55:18 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:55:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:55:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:55:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:55:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:55:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:55:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 94.277[deg]	[grasp_sample.py: 539]
+05/10 16:55:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:55:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:55:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:55:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:55:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 16:55:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.83s (batch: 4.63s, save: 13.20s)	[pipeline.py: 300]
+05/10 16:55:22 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.32s:
+  episode_total: mean=250.58s, total=250.58s, count=1, min=250575.0ms, max=250575.0ms
+  sensor_polling: mean=530.5ms, total=159.14s, count=300, min=451.9ms, max=868.1ms
+  save_trajectories: mean=13.20s, total=13.20s, count=1, min=13202.6ms, max=13202.6ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=18.2ms, max=74.2ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.9ms, max=4631.9ms
+  task_sampling: mean=3.32s, total=3.32s, count=1, min=3323.3ms, max=3323.3ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
+  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
+  task_specific_sample: mean=371.9ms, total=371.9ms, count=1, min=371.9ms, max=371.9ms
+  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
+  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
+  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:55:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:55:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:55:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:55:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:55:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:55:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:55:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:55:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:55:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:55:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076620m	[env.py: 870]
+05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:55:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82343257  0.13654     0.07661975] yaw=147.3deg	[env.py: 1019]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85921987  0.98368862  0.07661975] yaw=-147.5deg	[env.py: 1019]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81021313  0.0102866   0.07661975] yaw=148.3deg	[env.py: 1019]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:55:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.9ms, total=134.9ms	[env.py: 1075]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.137, 0.077)	[env.py: 1079]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.3 deg	[env.py: 1082]
+05/10 16:55:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/10 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:55:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:55:24 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:55:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:55:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:55:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:55:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:55:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:55:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.486[m] 83.805[deg]	[grasp_sample.py: 539]
+05/10 16:55:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:55:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:55:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:55:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:55:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 16:55:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 17.02s (batch: 5.60s, save: 11.43s)	[pipeline.py: 300]
+05/10 16:55:28 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.10s:
+  episode_total: mean=256.88s, total=256.88s, count=1, min=256877.0ms, max=256877.0ms
+  sensor_polling: mean=540.4ms, total=162.12s, count=300, min=456.6ms, max=948.5ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11428.8ms, max=11428.8ms
+  physics_step: mean=26.9ms, total=8.07s, count=300, min=18.3ms, max=94.6ms
+  save_batch_prep: mean=5.60s, total=5.60s, count=1, min=5595.6ms, max=5595.6ms
+  task_sampling: mean=4.10s, total=4.10s, count=1, min=4101.4ms, max=4101.4ms
+  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
+  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
+  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
+  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
+  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  task_specific_sample: mean=465.2ms, total=465.2ms, count=1, min=465.2ms, max=465.2ms
+  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
+  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=404.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=35.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:55:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:55:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:55:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:55:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:55:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:55:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:55:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028288m	[env.py: 870]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:55:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72072348  0.21078079  0.02828766] yaw=168.6deg	[env.py: 1019]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72924306  0.87895691  0.02828766] yaw=-167.7deg	[env.py: 1019]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88261016  0.79878013  0.02828766] yaw=-148.3deg	[env.py: 1019]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:55:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.4ms, total=105.4ms	[env.py: 1075]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.211, 0.028)	[env.py: 1079]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg	[env.py: 1082]
+05/10 16:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:55:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:55:30 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:55:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:55:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:55:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:55:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:55:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:55:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 94.848[deg]	[grasp_sample.py: 539]
+05/10 16:55:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:55:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:55:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:56:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:56:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:56:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:56:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:56:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:56:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:56:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:56:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:56:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:56:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:56:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:57:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:57:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:57:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:57:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:57:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:57:49 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.654s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:57:49 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.243[deg]	[grasp_sample.py: 539]
+05/10 16:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:50 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:57:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:57:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:57:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:57:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:57:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:57:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026620m	[env.py: 870]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:57:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84859588  0.03161113  0.02662041] yaw=148.3deg	[env.py: 1019]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86885973  1.0917148   0.02662041] yaw=-153.2deg	[env.py: 1019]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91098581  1.07170173  0.02662041] yaw=-138.0deg	[env.py: 1019]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:57:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.8ms, total=105.8ms	[env.py: 1075]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.032, 0.027)	[env.py: 1079]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg	[env.py: 1082]
+05/10 16:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:57:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:57:53 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:57:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:57:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:57:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:57:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.286s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:57:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.505[m] 88.247[deg]	[grasp_sample.py: 539]
+05/10 16:57:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:57:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:57:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 16:58:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 16:58:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 16:58:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:58:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:58:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:58:02 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:58:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.317[deg]	[grasp_sample.py: 539]
+05/10 16:58:03 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 16:58:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:58:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:58:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:58:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:58:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:58:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:58:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029858m	[env.py: 870]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:58:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16478897  1.15397728  0.02985841] yaw=-132.8deg	[env.py: 1019]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:58:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=597.4ms, total=597.5ms	[env.py: 1075]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.165, 1.154, 0.030)	[env.py: 1079]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
+05/10 16:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:58:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:58:06 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:58:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:58:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:58:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:58:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:58:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:58:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 87.609[deg]	[grasp_sample.py: 539]
+05/10 16:58:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:58:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:58:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:58:19 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 16:58:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 16:58:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:58:21 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 16:58:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:58:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 16:58:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.25s (batch: 4.49s, save: 10.76s)	[pipeline.py: 300]
+05/10 16:58:35 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=208.37s, total=208.37s, count=1, min=208374.6ms, max=208374.6ms
+  sensor_polling: mean=510.0ms, total=153.01s, count=300, min=431.3ms, max=1044.1ms
+  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10760.9ms, max=10760.9ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=18.0ms, max=50.9ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.6ms, max=4487.6ms
+  task_sampling: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
+  task_specific_sample: mean=500.6ms, total=500.6ms, count=1, min=500.6ms, max=500.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=448.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:58:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:58:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:58:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:58:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:58:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083007m	[env.py: 870]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84848726  0.82161066  0.08300728] yaw=-152.6deg	[env.py: 1019]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.15559946  1.06861294  0.08300728] yaw=-127.0deg	[env.py: 1019]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:58:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.7ms	[env.py: 1075]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.822, 0.083)	[env.py: 1079]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg	[env.py: 1082]
+05/10 16:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:58:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:58:38 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:58:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.153s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:58:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:58:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:58:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:58:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:58:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.483[m] 91.420[deg]	[grasp_sample.py: 539]
+05/10 16:58:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:58:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:58:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:58:49 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 16:58:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 16:58:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 16:58:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:58:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:59:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:59:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:59:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 16:59:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 16:59:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.98s (batch: 4.23s, save: 9.75s)	[pipeline.py: 300]
+05/10 16:59:04 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.39s:
+  episode_total: mean=214.86s, total=214.86s, count=1, min=214864.7ms, max=214864.7ms
+  sensor_polling: mean=529.1ms, total=158.73s, count=300, min=459.8ms, max=1095.3ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9749.3ms, max=9749.3ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=17.9ms, max=134.6ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4229.5ms, max=4229.5ms
+  task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
+  task_specific_sample: mean=383.2ms, total=383.2ms, count=1, min=383.2ms, max=383.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=432.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 16:59:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:59:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 16:59:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 16:59:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 16:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:59:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 16:59:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 16:59:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 16:59:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 16:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 16:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 16:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063641m	[env.py: 870]
+05/10 16:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 16:59:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71948169 -0.00245467  0.0636405 ] yaw=151.7deg	[env.py: 1019]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 16:59:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88081432  0.3994378   0.0636405 ] yaw=173.4deg	[env.py: 1019]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 16:59:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=597.6ms, total=597.7ms	[env.py: 1075]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, -0.002, 0.064)	[env.py: 1079]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.7 deg	[env.py: 1082]
+05/10 16:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/10 16:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 16:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 16:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 16:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 16:59:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 16:59:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 16:59:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
+05/10 16:59:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 16:59:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 16:59:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 16:59:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.897s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 16:59:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.671[m] 96.856[deg]	[grasp_sample.py: 539]
+05/10 16:59:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 16:59:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 16:59:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:59:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 16:59:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 16:59:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:00:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:00:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:00:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:00:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:00:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:00:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:00:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.275[deg]	[grasp_sample.py: 539]
+05/10 17:00:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:00:30 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:00:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:00:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:00:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:00:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:00:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058159m	[env.py: 870]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03059561  0.13822054  0.05815927] yaw=161.4deg	[env.py: 1019]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99391468  1.03407053  0.05815927] yaw=-130.9deg	[env.py: 1019]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:00:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms	[env.py: 1075]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.138, 0.058)	[env.py: 1079]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg	[env.py: 1082]
+05/10 17:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.755m	[env.py: 1086]
+05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:00:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:00:33 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:00:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:00:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:00:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:00:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:00:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.477s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:00:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.357[m] 89.921[deg]	[grasp_sample.py: 539]
+05/10 17:00:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:00:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:00:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:00:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:00:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:00:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:01:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:01:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:01:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:01:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:01:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:01:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:01:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:01:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.20s (batch: 4.33s, save: 8.87s)	[pipeline.py: 300]
+05/10 17:01:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.95s:
+  episode_total: mean=181.96s, total=363.92s, count=2, min=153396.0ms, max=210519.2ms
+  sensor_polling: mean=520.7ms, total=286.40s, count=550, min=445.8ms, max=991.5ms
+  physics_step: mean=26.2ms, total=14.41s, count=550, min=16.8ms, max=133.1ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8869.9ms, max=8869.9ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4329.1ms, max=4329.1ms
+  task_sampling: mean=473.4ms, total=946.8ms, count=2, min=366.9ms, max=579.9ms
+  task_specific_sample: mean=469.6ms, total=939.2ms, count=2, min=363.8ms, max=575.4ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=477.9us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:01:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:01:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:01:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:01:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:01:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:01:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:01:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:01:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039501m	[env.py: 870]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:01:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88894448  0.38690584  0.03950129] yaw=172.8deg	[env.py: 1019]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74492887  0.16415057  0.03950129] yaw=166.9deg	[env.py: 1019]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79208385  0.79436864  0.03950129] yaw=-164.9deg	[env.py: 1019]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:01:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms	[env.py: 1075]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.889, 0.387, 0.040)	[env.py: 1079]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg	[env.py: 1082]
+05/10 17:01:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:01:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:01:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:01:25 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:01:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.292s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:01:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:01:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:01:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:01:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.156s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:01:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.366[m] 88.727[deg]	[grasp_sample.py: 539]
+05/10 17:01:27 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:01:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:01:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:01:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:01:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:01:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:01:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:01:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:01:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:01:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:01:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:01:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:01:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:01:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:01:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:01:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:02:00 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.551s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:02:00 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.168[deg]	[grasp_sample.py: 539]
+05/10 17:02:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:02:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:02:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:02:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:02:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:02:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.90s (batch: 5.43s, save: 11.47s)	[pipeline.py: 300]
+05/10 17:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:09 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.60s:
+  episode_total: mean=212.28s, total=212.28s, count=1, min=212275.2ms, max=212275.2ms
+  sensor_polling: mean=520.8ms, total=156.23s, count=300, min=448.8ms, max=1145.0ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11469.8ms, max=11469.8ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.8ms, max=69.3ms
+  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5425.8ms, max=5425.8ms
+  task_sampling: mean=599.8ms, total=599.8ms, count=1, min=599.8ms, max=599.8ms
+  task_specific_sample: mean=595.5ms, total=595.5ms, count=1, min=595.5ms, max=595.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=506.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:02:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:02:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:02:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:02:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:02:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:02:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:02:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053818m	[env.py: 870]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:02:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94241542  0.87983669  0.0538176 ] yaw=-150.1deg	[env.py: 1019]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8904729   0.14087094  0.0538176 ] yaw=167.1deg	[env.py: 1019]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:02:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.3ms, total=225.3ms	[env.py: 1075]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.880, 0.054)	[env.py: 1079]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg	[env.py: 1082]
+05/10 17:02:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:02:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:02:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:02:12 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:02:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:02:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:02:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:02:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:02:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:02:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 95.759[deg]	[grasp_sample.py: 539]
+05/10 17:02:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:02:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:02:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:02:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:02:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:02:20 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:02:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:02:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:02:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:02:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:02:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:02:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:02:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:02:39 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:02:39 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.025[m] 0.876[deg]	[grasp_sample.py: 539]
+05/10 17:02:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:02:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:02:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:02:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:02:47 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:02:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:02:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:02:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:03:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:03:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:03:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.07s (batch: 4.36s, save: 9.71s)	[pipeline.py: 300]
+05/10 17:03:02 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.92s:
+  episode_total: mean=235.74s, total=235.74s, count=1, min=235735.5ms, max=235735.5ms
+  sensor_polling: mean=514.7ms, total=154.42s, count=300, min=447.4ms, max=823.5ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9708.6ms, max=9708.6ms
+  physics_step: mean=24.7ms, total=7.41s, count=300, min=13.9ms, max=61.3ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4364.1ms, max=4364.1ms
+  task_sampling: mean=917.9ms, total=917.9ms, count=1, min=917.9ms, max=917.9ms
+  task_specific_sample: mean=903.2ms, total=903.2ms, count=1, min=903.2ms, max=903.2ms
+  scene_randomize: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  mj_forward_sync: mean=580.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:03:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:03:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:03:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:03:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:03:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:03:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:03:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040872m	[env.py: 870]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:03:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97274775  0.69034929  0.04087243] yaw=-153.9deg	[env.py: 1019]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93603365  0.89222485  0.04087243] yaw=-151.4deg	[env.py: 1019]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.14757969  1.16884906  0.04087243] yaw=-139.5deg	[env.py: 1019]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:03:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.8ms, total=388.9ms	[env.py: 1075]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.690, 0.041)	[env.py: 1079]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg	[env.py: 1082]
+05/10 17:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
+05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:03:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:03:06 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:03:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.189s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:03:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:03:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:03:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:03:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:03:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.316[m] 85.838[deg]	[grasp_sample.py: 539]
+05/10 17:03:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:03:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:03:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:03:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:03:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:03:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:03:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:03:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:03:26 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.957[deg]	[grasp_sample.py: 539]
+05/10 17:03:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:03:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:03:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:03:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:04:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:04:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:04:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:04:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:04:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:04:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:04:08 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.866s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:04:08 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.269[deg]	[grasp_sample.py: 539]
+05/10 17:04:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:04:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:04:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:04:14 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 17:04:14 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=1.91s:
+  episode_total: mean=175.50s, total=526.51s, count=3, min=144538.3ms, max=222010.7ms
+  sensor_polling: mean=522.9ms, total=412.58s, count=789, min=434.0ms, max=949.7ms
+  physics_step: mean=25.0ms, total=19.70s, count=789, min=15.3ms, max=88.3ms
+  task_sampling: mean=635.4ms, total=1.91s, count=3, min=453.7ms, max=871.3ms
+  task_specific_sample: mean=631.5ms, total=1.89s, count=3, min=449.6ms, max=867.5ms
+  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.5ms, max=2.7ms
+  mj_forward_sync: mean=489.8us, total=1.5ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:04:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:04:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:04:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:04:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:04:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:04:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:04:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061022m	[env.py: 870]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:04:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95058998  0.29946864  0.0610222 ] yaw=166.6deg	[env.py: 1019]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01330132  0.93919637  0.0610222 ] yaw=-144.3deg	[env.py: 1019]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79825427  0.85730678  0.0610222 ] yaw=-161.2deg	[env.py: 1019]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:04:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms	[env.py: 1075]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.299, 0.061)	[env.py: 1079]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg	[env.py: 1082]
+05/10 17:04:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:04:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:04:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:04:16 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:04:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:04:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:04:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:04:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:04:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:04:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:04:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.341[m] 90.636[deg]	[grasp_sample.py: 539]
+05/10 17:04:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:04:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:04:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:04:37 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:04:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:04:37 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/10 17:04:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:04:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:04:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:04:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.83s (batch: 4.26s, save: 10.57s)	[pipeline.py: 300]
+05/10 17:04:52 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.60s:
+  episode_total: mean=207.41s, total=207.41s, count=1, min=207409.9ms, max=207409.9ms
+  sensor_polling: mean=530.6ms, total=155.99s, count=294, min=453.3ms, max=918.9ms
+  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10569.5ms, max=10569.5ms
+  physics_step: mean=28.8ms, total=8.47s, count=294, min=19.0ms, max=124.6ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4262.5ms, max=4262.5ms
+  task_sampling: mean=596.5ms, total=596.5ms, count=1, min=596.5ms, max=596.5ms
+  task_specific_sample: mean=591.7ms, total=591.7ms, count=1, min=591.7ms, max=591.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=581.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:04:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:04:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:04:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:04:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:04:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:04:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:04:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060965m	[env.py: 870]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:04:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93480186  1.20481256  0.06096538] yaw=-127.2deg	[env.py: 1019]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99876952  0.82859853  0.06096538] yaw=-157.8deg	[env.py: 1019]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79636018  0.11733088  0.06096538] yaw=160.2deg	[env.py: 1019]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:04:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.3ms, total=94.3ms	[env.py: 1075]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.205, 0.061)	[env.py: 1079]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg	[env.py: 1082]
+05/10 17:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:04:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:04:54 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:04:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:04:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:04:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:04:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:04:56 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:04:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:04:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.659[m] 86.927[deg]	[grasp_sample.py: 539]
+05/10 17:04:57 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:04:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:04:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:04:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:04:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:04:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:04:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:04:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078392m	[env.py: 870]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:04:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9571973   1.27753501  0.07839204] yaw=-134.5deg	[env.py: 1019]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:04:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=289.7ms, total=289.8ms	[env.py: 1075]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.957, 1.278, 0.078)	[env.py: 1079]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
+05/10 17:04:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:04:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:05:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:05:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:05:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:05:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:05:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:05:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:05:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:05:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.666s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 17:05:01 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 17:05:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:05:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:05:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:05:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:05:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:05:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:05:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011764m	[env.py: 870]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:05:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89318162  0.32549141  0.01176414] yaw=171.4deg	[env.py: 1019]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9791416   0.14360797  0.01176414] yaw=146.6deg	[env.py: 1019]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:05:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.5ms, total=365.5ms	[env.py: 1075]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.325, 0.012)	[env.py: 1079]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg	[env.py: 1082]
+05/10 17:05:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:05:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:05:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:05:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:05:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:05:04 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:05:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:05:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:05:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:05:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:05:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:05:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.374[m] 90.207[deg]	[grasp_sample.py: 539]
+05/10 17:05:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:05:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:05:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:05:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:05:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:05:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:05:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:05:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:05:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:05:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.92s (batch: 4.80s, save: 9.12s)	[pipeline.py: 300]
+05/10 17:05:38 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.54s:
+  episode_total: mean=207.28s, total=207.28s, count=1, min=207282.7ms, max=207282.7ms
+  sensor_polling: mean=508.8ms, total=152.65s, count=300, min=441.5ms, max=838.0ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.5ms, max=9122.5ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=19.1ms, max=84.4ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4799.1ms, max=4799.1ms
+  task_sampling: mean=542.5ms, total=542.5ms, count=1, min=542.5ms, max=542.5ms
+  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=450.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:05:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:05:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:05:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:05:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:05:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:05:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:05:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:05:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:05:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:05:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:05:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008972m	[env.py: 870]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:05:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90480596  1.03917967  0.0089718 ] yaw=-138.1deg	[env.py: 1019]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01161    0.7781696  0.0089718] yaw=-167.4deg	[env.py: 1019]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:05:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9600325   0.61444584  0.0089718 ] yaw=-177.7deg	[env.py: 1019]
+05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:05:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=382.8ms, total=382.9ms	[env.py: 1075]
+05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.905, 1.039, 0.009)	[env.py: 1079]
+05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.1 deg	[env.py: 1082]
+05/10 17:05:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/10 17:05:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:05:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:05:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:05:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:05:41 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:05:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:05:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:05:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:05:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:05:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:05:45 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.566[m] 86.854[deg]	[grasp_sample.py: 539]
+05/10 17:05:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:05:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:05:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:05:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:05:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:05:49 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:05:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:05:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:05:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:06:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:06:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:06:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:06:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:06:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:06:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:06:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.566[deg]	[grasp_sample.py: 539]
+05/10 17:06:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:06:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:06:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:06:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:12 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:06:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:06:12 INFO: [Worker 0] Preparing episode data: 285 timesteps	[save_utils.py: 278]
+05/10 17:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:06:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:06:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:06:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:06:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:06:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.808s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:06:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.567[deg]	[grasp_sample.py: 539]
+05/10 17:06:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:06:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:06:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:06:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:06:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.97s (batch: 4.70s, save: 11.27s)	[pipeline.py: 300]
+05/10 17:06:28 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.87s:
+  episode_total: mean=203.51s, total=203.51s, count=1, min=203512.4ms, max=203512.4ms
+  sensor_polling: mean=528.5ms, total=150.08s, count=284, min=457.0ms, max=1040.9ms
+  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11266.1ms, max=11266.1ms
+  physics_step: mean=25.8ms, total=7.32s, count=284, min=18.2ms, max=121.8ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4703.3ms, max=4703.3ms
+  task_sampling: mean=873.5ms, total=873.5ms, count=1, min=873.5ms, max=873.5ms
+  task_specific_sample: mean=864.3ms, total=864.3ms, count=1, min=864.3ms, max=864.3ms
+  scene_randomize: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  mj_forward_sync: mean=557.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:06:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:06:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:06:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:06:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:06:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:06:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038847m	[env.py: 870]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:06:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81789351  0.39249442  0.03884694] yaw=181.2deg	[env.py: 1019]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85566066  0.70564347  0.03884694] yaw=-154.2deg	[env.py: 1019]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82887966  0.13838141  0.03884694] yaw=161.2deg	[env.py: 1019]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:06:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.1ms, total=154.1ms	[env.py: 1075]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.392, 0.039)	[env.py: 1079]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.2 deg	[env.py: 1082]
+05/10 17:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:06:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:06:31 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:06:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:06:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:06:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:06:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:06:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:06:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.415[m] 86.157[deg]	[grasp_sample.py: 539]
+05/10 17:06:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:06:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:06:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:06:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:06:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:06:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:06:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:06:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:06:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:06:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.567[deg]	[grasp_sample.py: 539]
+05/10 17:06:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:06:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:06:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:06:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:06:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:06:51 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 17:06:52 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 17:06:52 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=False episode_total=0.44s:
+  episode_total: mean=156.23s, total=156.23s, count=1, min=156233.8ms, max=156233.8ms
+  sensor_polling: mean=521.9ms, total=98.65s, count=189, min=443.2ms, max=926.7ms
+  physics_step: mean=24.8ms, total=4.68s, count=189, min=13.0ms, max=68.6ms
+  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
+  task_specific_sample: mean=440.5ms, total=440.5ms, count=1, min=440.5ms, max=440.5ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=436.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:06:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:06:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:06:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:06:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:06:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:06:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:06:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003954m	[env.py: 870]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:06:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73503568  0.38566862  0.00395391] yaw=173.4deg	[env.py: 1019]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80931307  1.11245414  0.00395391] yaw=-147.2deg	[env.py: 1019]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69214394  0.40749149  0.00395391] yaw=176.6deg	[env.py: 1019]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:06:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=148.6ms, total=148.7ms	[env.py: 1075]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.386, 0.004)	[env.py: 1079]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.4 deg	[env.py: 1082]
+05/10 17:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:06:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:06:55 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:06:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:06:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:06:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:06:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:06:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:06:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.542[m] 93.060[deg]	[grasp_sample.py: 539]
+05/10 17:06:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:06:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:06:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:07:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:07:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 17:07:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:07:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:07:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:07:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:07:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.427s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:07:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.608[deg]	[grasp_sample.py: 539]
+05/10 17:07:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:07:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:07:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:07:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:07:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:07:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:07:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:07:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:07:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:07:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:07:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.389s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:07:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.568[deg]	[grasp_sample.py: 539]
+05/10 17:07:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:07:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:07:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:07:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:07:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:07:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:07:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:08:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:08:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:08:31 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:08:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:08:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:08:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:08:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:08:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:08:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.00s (batch: 4.55s, save: 9.45s)	[pipeline.py: 300]
+05/10 17:08:49 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.68s:
+  episode_total: mean=77.15s, total=231.44s, count=3, min=2341.0ms, max=225636.8ms
+  sensor_polling: mean=530.4ms, total=159.12s, count=300, min=449.8ms, max=949.3ms
+  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9445.6ms, max=9445.6ms
+  physics_step: mean=26.4ms, total=7.92s, count=300, min=14.8ms, max=65.1ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4550.3ms, max=4550.3ms
+  task_sampling: mean=558.9ms, total=1.68s, count=3, min=452.2ms, max=651.5ms
+  task_specific_sample: mean=555.6ms, total=1.67s, count=3, min=448.2ms, max=649.0ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=505.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:08:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:08:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:08:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:08:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:08:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:08:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:08:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030724m	[env.py: 870]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:08:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95330517  0.96988563  0.03072429] yaw=-143.7deg	[env.py: 1019]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88364195  0.63828674  0.03072429] yaw=-175.6deg	[env.py: 1019]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82640332  0.31193072  0.03072429] yaw=162.0deg	[env.py: 1019]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:08:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.3ms, total=176.4ms	[env.py: 1075]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.970, 0.031)	[env.py: 1079]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg	[env.py: 1082]
+05/10 17:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:08:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:08:51 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:08:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:08:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:08:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:08:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:08:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:08:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 92.430[deg]	[grasp_sample.py: 539]
+05/10 17:08:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:08:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:08:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:08:55 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:08:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:08:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:09:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:09:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:09:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.86s (batch: 4.42s, save: 12.44s)	[pipeline.py: 300]
+05/10 17:09:13 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.71s:
+  episode_total: mean=212.84s, total=212.84s, count=1, min=212837.8ms, max=212837.8ms
+  sensor_polling: mean=516.1ms, total=154.83s, count=300, min=439.5ms, max=898.0ms
+  save_trajectories: mean=12.44s, total=12.44s, count=1, min=12441.8ms, max=12441.8ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=15.5ms, max=84.1ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.0ms, max=4420.0ms
+  task_sampling: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  task_specific_sample: mean=706.1ms, total=706.1ms, count=1, min=706.1ms, max=706.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=531.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:09:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:09:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:09:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:09:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:09:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:09:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:09:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073791m	[env.py: 870]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:09:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95317775  0.19067686  0.07379116] yaw=148.8deg	[env.py: 1019]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:09:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=417.0ms, total=417.0ms	[env.py: 1075]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.191, 0.074)	[env.py: 1079]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg	[env.py: 1082]
+05/10 17:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:09:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:09:15 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:09:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:09:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:09:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:09:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:09:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:09:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.397[m] 90.986[deg]	[grasp_sample.py: 539]
+05/10 17:09:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:09:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:09:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:09:22 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:09:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:09:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:09:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:09:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:09:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:09:58 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:10:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:10:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:10:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:10:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:10:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.83s (batch: 4.46s, save: 9.37s)	[pipeline.py: 300]
+05/10 17:10:03 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s:
+  episode_total: mean=212.73s, total=212.73s, count=1, min=212725.6ms, max=212725.6ms
+  sensor_polling: mean=524.7ms, total=157.41s, count=300, min=439.0ms, max=795.5ms
+  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9370.5ms, max=9370.5ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=17.9ms, max=117.1ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
+  task_sampling: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms
+  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=441.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:10:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:10:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:10:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:10:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:10:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077259m	[env.py: 870]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77681156  0.61100902  0.07725933] yaw=-175.9deg	[env.py: 1019]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90455869  0.48311657  0.07725933] yaw=-174.7deg	[env.py: 1019]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79535936  0.37121122  0.07725933] yaw=168.3deg	[env.py: 1019]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:10:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms	[env.py: 1075]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.611, 0.077)	[env.py: 1079]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.9 deg	[env.py: 1082]
+05/10 17:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:10:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:10:05 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:10:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:10:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:10:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:10:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:10:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 86.810[deg]	[grasp_sample.py: 539]
+05/10 17:10:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:10:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:10:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:10:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:10:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:10:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:10:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:10:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:10:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:10:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:10:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.41s (batch: 4.28s, save: 8.13s)	[pipeline.py: 300]
+05/10 17:10:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
+  episode_total: mean=222.66s, total=222.66s, count=1, min=222661.3ms, max=222661.3ms
+  sensor_polling: mean=512.2ms, total=153.66s, count=300, min=448.6ms, max=947.6ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.4ms, max=8132.4ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=15.9ms, max=74.0ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4281.0ms, max=4281.0ms
+  task_sampling: mean=502.9ms, total=502.9ms, count=1, min=502.9ms, max=502.9ms
+  task_specific_sample: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=524.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:10:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:10:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:10:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:10:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:10:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:10:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:10:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:10:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:10:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:10:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014344m	[env.py: 870]
+05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:10:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85201209  0.60554841  0.01434356] yaw=-171.9deg	[env.py: 1019]
+05/10 17:10:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82581802  0.98306711  0.01434356] yaw=-143.3deg	[env.py: 1019]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74807173  0.5563308   0.01434356] yaw=-167.1deg	[env.py: 1019]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:10:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.4ms, total=118.4ms	[env.py: 1075]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.606, 0.014)	[env.py: 1079]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.9 deg	[env.py: 1082]
+05/10 17:10:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/10 17:10:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:10:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:10:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:10:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:10:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:10:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:10:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:10:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:10:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:10:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:10:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.430[m] 86.835[deg]	[grasp_sample.py: 539]
+05/10 17:10:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:10:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:10:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:10:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:11:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:11:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:11:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:11:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:11:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:11:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:11:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:11:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:11:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:11:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:11:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:11:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.154[deg]	[grasp_sample.py: 539]
+05/10 17:11:09 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:11:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:11:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:11:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:11:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:11:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:11:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:11:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:11:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032351m	[env.py: 870]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:11:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79958769  0.06933745  0.03235101] yaw=144.7deg	[env.py: 1019]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81277666  0.64057686  0.03235101] yaw=-162.3deg	[env.py: 1019]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87857134  1.07822462  0.03235101] yaw=-137.8deg	[env.py: 1019]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:11:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.9ms	[env.py: 1075]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.069, 0.032)	[env.py: 1079]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 144.7 deg	[env.py: 1082]
+05/10 17:11:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:11:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:11:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:11:12 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:11:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:11:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:11:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:11:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:11:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.565[m] 93.510[deg]	[grasp_sample.py: 539]
+05/10 17:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:11:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:11:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:11:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:11:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:11:35 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:11:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:12:03 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:12:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:12:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:12:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:12:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:12:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.14s (batch: 4.31s, save: 9.83s)	[pipeline.py: 300]
+05/10 17:12:18 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.45s:
+  episode_total: mean=207.38s, total=207.38s, count=1, min=207383.5ms, max=207383.5ms
+  sensor_polling: mean=507.5ms, total=152.24s, count=300, min=436.5ms, max=1005.5ms
+  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9833.5ms, max=9833.5ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=16.1ms, max=104.0ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4306.7ms, max=4306.7ms
+  task_sampling: mean=449.3ms, total=449.3ms, count=1, min=449.3ms, max=449.3ms
+  task_specific_sample: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=588.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:12:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:12:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:12:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:12:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:12:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:12:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:12:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:12:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032475m	[env.py: 870]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:12:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75008473  0.82655655  0.03247539] yaw=-152.4deg	[env.py: 1019]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86441818  0.72024857  0.03247539] yaw=-170.9deg	[env.py: 1019]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76607369  0.30367906  0.03247539] yaw=164.2deg	[env.py: 1019]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:12:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.5ms, total=140.5ms	[env.py: 1075]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.827, 0.032)	[env.py: 1079]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg	[env.py: 1082]
+05/10 17:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:12:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:12:20 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:12:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:12:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:12:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:12:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:12:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.240s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:12:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.568[m] 86.309[deg]	[grasp_sample.py: 539]
+05/10 17:12:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:12:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:12:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:12:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:12:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:12:57 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:13:23 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:13:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:13:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:13:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:13:30 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:13:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:13:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:13:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.62s (batch: 4.34s, save: 11.28s)	[pipeline.py: 300]
+05/10 17:13:40 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.51s:
+  episode_total: mean=215.25s, total=215.25s, count=1, min=215248.3ms, max=215248.3ms
+  sensor_polling: mean=522.1ms, total=156.62s, count=300, min=451.5ms, max=933.3ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11281.6ms, max=11281.6ms
+  physics_step: mean=25.7ms, total=7.72s, count=300, min=18.0ms, max=88.4ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4335.6ms, max=4335.6ms
+  task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms
+  task_specific_sample: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=415.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:13:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:13:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:13:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:13:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:13:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:13:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:13:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:13:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093589m	[env.py: 870]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:13:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70091235  0.74074463  0.09358929] yaw=-155.8deg	[env.py: 1019]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75550472  0.41921094  0.09358929] yaw=171.4deg	[env.py: 1019]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80566141  0.9516933   0.09358929] yaw=-159.8deg	[env.py: 1019]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:13:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.2ms, total=91.3ms	[env.py: 1075]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.741, 0.094)	[env.py: 1079]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg	[env.py: 1082]
+05/10 17:13:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:13:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:13:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:13:42 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:13:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:13:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:13:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:13:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:13:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.868s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:13:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 75.843[deg]	[grasp_sample.py: 539]
+05/10 17:13:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:13:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:13:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:13:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:13:55 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:13:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:13:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:14:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:14:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:14:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.42s (batch: 4.12s, save: 8.30s)	[pipeline.py: 300]
+05/10 17:14:07 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:14:08 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
+  episode_total: mean=209.27s, total=209.27s, count=1, min=209268.9ms, max=209268.9ms
+  sensor_polling: mean=530.0ms, total=159.01s, count=300, min=451.3ms, max=947.0ms
+  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8301.7ms, max=8301.7ms
+  physics_step: mean=25.5ms, total=7.66s, count=300, min=15.9ms, max=96.2ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.1ms, max=4120.1ms
+  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
+  task_specific_sample: mean=402.4ms, total=402.4ms, count=1, min=402.4ms, max=402.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:14:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:14:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:14:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:14:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:14:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:14:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:14:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:14:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:14:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013440m	[env.py: 870]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:14:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7793246   0.29345708  0.01344034] yaw=177.3deg	[env.py: 1019]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90928358  0.17910897  0.01344034] yaw=163.1deg	[env.py: 1019]
+05/10 17:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:14:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=211.0ms, total=211.0ms	[env.py: 1075]
+05/10 17:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.293, 0.013)	[env.py: 1079]
+05/10 17:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg	[env.py: 1082]
+05/10 17:14:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/10 17:14:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:14:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:14:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:14:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:14:10 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:14:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:14:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:14:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:14:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:14:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:14:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 88.429[deg]	[grasp_sample.py: 539]
+05/10 17:14:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:14:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:14:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:14:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:14:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:14:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:14:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:14:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:14:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:14:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.94s (batch: 4.30s, save: 10.64s)	[pipeline.py: 300]
+05/10 17:14:46 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.16s:
+  episode_total: mean=164.63s, total=329.26s, count=2, min=114723.2ms, max=214541.5ms
+  sensor_polling: mean=529.0ms, total=256.06s, count=484, min=449.9ms, max=1065.2ms
+  physics_step: mean=26.0ms, total=12.59s, count=484, min=15.1ms, max=135.7ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10642.9ms, max=10642.9ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4297.9ms, max=4297.9ms
+  task_sampling: mean=582.5ms, total=1.16s, count=2, min=457.7ms, max=707.2ms
+  task_specific_sample: mean=577.0ms, total=1.15s, count=2, min=454.4ms, max=699.6ms
+  scene_randomize: mean=3.8ms, total=7.6ms, count=2, min=1.4ms, max=6.2ms
+  mj_forward_sync: mean=485.6us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:14:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:14:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:14:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:14:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:14:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:14:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070797m	[env.py: 870]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:14:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00525046  0.97234258  0.07079675] yaw=-144.6deg	[env.py: 1019]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99264433  1.20963474  0.07079675] yaw=-139.8deg	[env.py: 1019]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03464486  0.11978183  0.07079675] yaw=156.9deg	[env.py: 1019]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.7ms, total=283.8ms	[env.py: 1075]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.005, 0.972, 0.071)	[env.py: 1079]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg	[env.py: 1082]
+05/10 17:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:14:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:14:48 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:14:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:14:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:14:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:14:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:14:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:14:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.434[m] 96.084[deg]	[grasp_sample.py: 539]
+05/10 17:14:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:14:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:14:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:14:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:14:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:15:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:15:10 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:15:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:15:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:15:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:15:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:15:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:15:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:15:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:15:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:15:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:15:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.24s (batch: 4.52s, save: 11.73s)	[pipeline.py: 300]
+05/10 17:15:53 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
+  episode_total: mean=213.15s, total=213.15s, count=1, min=213155.0ms, max=213155.0ms
+  sensor_polling: mean=516.7ms, total=155.00s, count=300, min=447.2ms, max=912.6ms
+  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11725.5ms, max=11725.5ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=18.6ms, max=107.0ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4519.4ms, max=4519.4ms
+  task_sampling: mean=494.8ms, total=494.8ms, count=1, min=494.8ms, max=494.8ms
+  task_specific_sample: mean=489.6ms, total=489.6ms, count=1, min=489.6ms, max=489.6ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=620.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:15:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:15:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:15:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:15:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:15:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:15:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:15:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063799m	[env.py: 870]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:15:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95007769  0.98069745  0.06379923] yaw=-155.1deg	[env.py: 1019]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72498197  0.66252279  0.06379923] yaw=-168.1deg	[env.py: 1019]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78593238  0.26071855  0.06379923] yaw=163.2deg	[env.py: 1019]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:15:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.2ms, total=309.3ms	[env.py: 1075]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.981, 0.064)	[env.py: 1079]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg	[env.py: 1082]
+05/10 17:15:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:15:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:15:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:15:55 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:15:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:15:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:15:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:15:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:15:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:15:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:15:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.499[m] 95.664[deg]	[grasp_sample.py: 539]
+05/10 17:15:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:15:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:15:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:16:31 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:16:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:16:54 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:16:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:16:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:17:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:17:06 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:17:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:17:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:17:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:17:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.91s (batch: 5.84s, save: 9.08s)	[pipeline.py: 300]
+05/10 17:17:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
+  episode_total: mean=208.12s, total=208.12s, count=1, min=208118.1ms, max=208118.1ms
+  sensor_polling: mean=521.6ms, total=156.48s, count=300, min=437.4ms, max=958.7ms
+  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9075.8ms, max=9075.8ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=16.9ms, max=101.0ms
+  save_batch_prep: mean=5.84s, total=5.84s, count=1, min=5835.0ms, max=5835.0ms
+  task_sampling: mean=408.2ms, total=408.2ms, count=1, min=408.2ms, max=408.2ms
+  task_specific_sample: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=487.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:17:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:17:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:17:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:17:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:17:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:17:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:17:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071945m	[env.py: 870]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:17:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2051489   1.09014751  0.07194474] yaw=-133.7deg	[env.py: 1019]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87941551  1.11707535  0.07194474] yaw=-140.5deg	[env.py: 1019]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68809405  0.1187716   0.07194474] yaw=163.9deg	[env.py: 1019]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:17:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms	[env.py: 1075]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.205, 1.090, 0.072)	[env.py: 1079]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
+05/10 17:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:17:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:17:12 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:17:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:17:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:17:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:17:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:17:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:17:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.382[m] 87.878[deg]	[grasp_sample.py: 539]
+05/10 17:17:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:17:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:17:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:17:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:17:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:17:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:17:38 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:17:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:17:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:17:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.49s (batch: 4.15s, save: 8.35s)	[pipeline.py: 300]
+05/10 17:17:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.58s:
+  episode_total: mean=209.81s, total=209.81s, count=1, min=209813.1ms, max=209813.1ms
+  sensor_polling: mean=543.1ms, total=162.93s, count=300, min=449.9ms, max=945.1ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8346.1ms, max=8346.1ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=121.4ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4145.9ms, max=4145.9ms
+  task_sampling: mean=580.0ms, total=580.0ms, count=1, min=580.0ms, max=580.0ms
+  task_specific_sample: mean=574.6ms, total=574.6ms, count=1, min=574.6ms, max=574.6ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=713.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:17:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:17:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:17:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:17:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:17:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:17:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:17:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048874m	[env.py: 870]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:17:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66208755  0.29235679  0.04887372] yaw=159.6deg	[env.py: 1019]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95144446  1.06900427  0.04887372] yaw=-152.2deg	[env.py: 1019]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:17:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms	[env.py: 1075]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.292, 0.049)	[env.py: 1079]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg	[env.py: 1082]
+05/10 17:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:17:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:17:41 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:17:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:17:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:17:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.937s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:17:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.607[m] 86.377[deg]	[grasp_sample.py: 539]
+05/10 17:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:17:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:17:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:17:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:17:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:18:01 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:18:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:18:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:18:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:18:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:18:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.51s (batch: 5.48s, save: 10.04s)	[pipeline.py: 300]
+05/10 17:18:17 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
+  episode_total: mean=209.31s, total=209.31s, count=1, min=209314.8ms, max=209314.8ms
+  sensor_polling: mean=527.8ms, total=158.35s, count=300, min=437.6ms, max=1059.8ms
+  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10038.4ms, max=10038.4ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=15.3ms, max=90.8ms
+  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5475.4ms, max=5475.4ms
+  task_sampling: mean=596.7ms, total=596.7ms, count=1, min=596.7ms, max=596.7ms
+  task_specific_sample: mean=592.9ms, total=592.9ms, count=1, min=592.9ms, max=592.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:18:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:18:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:18:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:18:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:18:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:18:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:18:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:18:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:18:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:18:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027992m	[env.py: 870]
+05/10 17:18:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:18:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65187472  0.6505924   0.02799177] yaw=-173.9deg	[env.py: 1019]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74310173  0.49157426  0.02799177] yaw=-180.6deg	[env.py: 1019]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88676339  0.21933042  0.02799177] yaw=158.4deg	[env.py: 1019]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.3ms	[env.py: 1075]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.651, 0.028)	[env.py: 1079]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg	[env.py: 1082]
+05/10 17:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/10 17:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:18:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:18:19 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:18:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:18:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:18:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:18:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:18:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:18:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.628[m] 94.662[deg]	[grasp_sample.py: 539]
+05/10 17:18:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:18:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:18:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:18:43 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:18:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:18:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:19:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:19:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:19:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:19:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:19:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:19:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:19:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.66s (batch: 5.01s, save: 10.65s)	[pipeline.py: 300]
+05/10 17:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:23 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.61s:
+  episode_total: mean=208.60s, total=208.60s, count=1, min=208602.2ms, max=208602.2ms
+  sensor_polling: mean=518.3ms, total=155.49s, count=300, min=443.0ms, max=876.4ms
+  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10649.9ms, max=10649.9ms
+  physics_step: mean=25.6ms, total=7.67s, count=300, min=18.2ms, max=131.8ms
+  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5008.3ms, max=5008.3ms
+  task_sampling: mean=609.4ms, total=609.4ms, count=1, min=609.4ms, max=609.4ms
+  task_specific_sample: mean=604.4ms, total=604.4ms, count=1, min=604.4ms, max=604.4ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=639.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:19:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:19:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:19:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:19:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:19:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:19:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060089m	[env.py: 870]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:19:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90261797  0.94685028  0.06008931] yaw=-154.1deg	[env.py: 1019]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82228877  1.12341694  0.06008931] yaw=-132.9deg	[env.py: 1019]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98472537  1.13822196  0.06008931] yaw=-141.7deg	[env.py: 1019]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:19:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.1ms	[env.py: 1075]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.947, 0.060)	[env.py: 1079]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
+05/10 17:19:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:19:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:19:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:19:26 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:19:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:19:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:19:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:19:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:19:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:19:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 87.764[deg]	[grasp_sample.py: 539]
+05/10 17:19:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:19:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:19:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:19:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:19:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:19:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:19:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:19:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:19:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:19:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:19:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:19:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:19:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:19:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.304[deg]	[grasp_sample.py: 539]
+05/10 17:19:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:19:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:19:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:19:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:19:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.355[deg]	[grasp_sample.py: 539]
+05/10 17:19:38 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:19:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:19:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:19:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:19:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:19:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:19:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:19:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041211m	[env.py: 870]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:19:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96422574  0.83790477  0.04121141] yaw=-153.8deg	[env.py: 1019]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79949137  0.66778023  0.04121141] yaw=-163.4deg	[env.py: 1019]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82038026  0.18915596  0.04121141] yaw=150.4deg	[env.py: 1019]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:19:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=340.3ms, total=340.3ms	[env.py: 1075]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.838, 0.041)	[env.py: 1079]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg	[env.py: 1082]
+05/10 17:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:19:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:19:41 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:19:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.162s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:19:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:19:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:19:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:19:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:19:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.274s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:19:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 97.105[deg]	[grasp_sample.py: 539]
+05/10 17:19:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:19:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:19:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:19:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:19:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:19:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:19:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:20:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:20:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:20:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:20:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:20:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:20:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:20:22 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.784[deg]	[grasp_sample.py: 539]
+05/10 17:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:20:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:20:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:20:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:20:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:20:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:20:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:20:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:20:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:20:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:20:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:20:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:20:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:20:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:20:58 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.789s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:20:58 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.380[deg]	[grasp_sample.py: 539]
+05/10 17:20:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:20:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:20:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:21:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:21:06 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 17:21:06 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=False episode_total=0.52s:
+  episode_total: mean=204.78s, total=204.78s, count=1, min=204780.1ms, max=204780.1ms
+  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=436.5ms, max=864.3ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=14.8ms, max=87.8ms
+  task_sampling: mean=519.9ms, total=519.9ms, count=1, min=519.9ms, max=519.9ms
+  task_specific_sample: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=541.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:21:07 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:21:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:21:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:21:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:21:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:21:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:21:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:21:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053024m	[env.py: 870]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:21:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84179512  0.97827093  0.05302439] yaw=-159.8deg	[env.py: 1019]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65379461  0.68458045  0.05302439] yaw=-167.3deg	[env.py: 1019]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81753313  0.8920796   0.05302439] yaw=-161.7deg	[env.py: 1019]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:21:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.6ms, total=119.6ms	[env.py: 1075]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.978, 0.053)	[env.py: 1079]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg	[env.py: 1082]
+05/10 17:21:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m	[env.py: 1086]
+05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:21:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:21:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:21:08 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:21:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:21:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:21:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:21:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:21:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.259s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:21:11 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.562[m] 75.624[deg]	[grasp_sample.py: 539]
+05/10 17:21:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:21:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:21:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:21:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:21:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:21:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:21:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:21:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:21:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.62s (batch: 4.24s, save: 9.38s)	[pipeline.py: 300]
+05/10 17:21:46 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=207.66s, total=207.66s, count=1, min=207660.9ms, max=207660.9ms
+  sensor_polling: mean=516.9ms, total=155.07s, count=300, min=430.4ms, max=916.4ms
+  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9382.7ms, max=9382.7ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=15.4ms, max=128.0ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.6ms, max=4239.6ms
+  task_sampling: mean=431.4ms, total=431.4ms, count=1, min=431.4ms, max=431.4ms
+  task_specific_sample: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:21:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:21:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:21:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:21:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:21:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007314m	[env.py: 870]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69288426  0.24179791  0.00731395] yaw=160.5deg	[env.py: 1019]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87494512  1.13147006  0.00731395] yaw=-143.7deg	[env.py: 1019]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87006284  0.71511875  0.00731395] yaw=-168.8deg	[env.py: 1019]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:21:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.5ms, total=277.5ms	[env.py: 1075]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.242, 0.007)	[env.py: 1079]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg	[env.py: 1082]
+05/10 17:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:21:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:21:49 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:21:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.197s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:21:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:21:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:21:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.113s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:21:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.016s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:21:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.614[m] 93.337[deg]	[grasp_sample.py: 539]
+05/10 17:21:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:21:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:21:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:22:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:22:11 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:22:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:22:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:22:29 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:22:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:22:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:22:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:22:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:22:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:22:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.46s (batch: 4.15s, save: 9.31s)	[pipeline.py: 300]
+05/10 17:22:51 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=206.34s, total=206.34s, count=1, min=206341.1ms, max=206341.1ms
+  sensor_polling: mean=509.8ms, total=152.93s, count=300, min=437.4ms, max=992.7ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9307.1ms, max=9307.1ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=15.8ms, max=90.2ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4151.4ms, max=4151.4ms
+  task_sampling: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
+  task_specific_sample: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=470.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:22:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:22:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:22:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:22:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:22:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:22:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:22:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039504m	[env.py: 870]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:22:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63905087  0.42319579  0.03950405] yaw=170.0deg	[env.py: 1019]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90225319  0.96839777  0.03950405] yaw=-139.3deg	[env.py: 1019]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09221555  1.1553269   0.03950405] yaw=-134.1deg	[env.py: 1019]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:22:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.5ms, total=323.5ms	[env.py: 1075]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.639, 0.423, 0.040)	[env.py: 1079]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg	[env.py: 1082]
+05/10 17:22:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:22:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:22:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:22:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:22:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:22:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:22:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:22:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:22:54 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:22:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:22:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:22:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:22:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.612[m] 92.644[deg]	[grasp_sample.py: 539]
+05/10 17:22:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:22:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:22:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:23:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:23:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:23:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:23:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.53s (batch: 5.14s, save: 11.39s)	[pipeline.py: 300]
+05/10 17:23:11 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.03s:
+  episode_total: mean=179.14s, total=358.27s, count=2, min=146860.5ms, max=211413.5ms
+  sensor_polling: mean=513.4ms, total=280.30s, count=546, min=427.3ms, max=1050.5ms
+  physics_step: mean=24.9ms, total=13.60s, count=546, min=16.1ms, max=124.2ms
+  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11388.3ms, max=11388.3ms
+  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5140.5ms, max=5140.5ms
+  task_sampling: mean=515.0ms, total=1.03s, count=2, min=377.4ms, max=652.6ms
+  task_specific_sample: mean=511.1ms, total=1.02s, count=2, min=373.7ms, max=648.5ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.7ms, max=2.5ms
+  mj_forward_sync: mean=509.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:23:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:23:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:23:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:23:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:23:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047686m	[env.py: 870]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86278248  0.48790772  0.04768634] yaw=-175.5deg	[env.py: 1019]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71780782  0.33594549  0.04768634] yaw=168.7deg	[env.py: 1019]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99902067  1.13381653  0.04768634] yaw=-128.2deg	[env.py: 1019]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:23:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=121.0ms	[env.py: 1075]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.488, 0.048)	[env.py: 1079]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg	[env.py: 1082]
+05/10 17:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:23:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:23:13 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:23:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:23:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:23:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:23:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:23:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:23:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.426[m] 96.009[deg]	[grasp_sample.py: 539]
+05/10 17:23:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:23:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:23:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:23:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:23:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:23:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:23:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:23:57 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:23:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:24:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:24:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:24:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:24:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:24:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:24:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:24:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:24:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:24:03 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:24:03 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.298[deg]	[grasp_sample.py: 539]
+05/10 17:24:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:24:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:24:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:24:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:24:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:24:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:24:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:24:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:24:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:24:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:24:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:24:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:24:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:24:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:24:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:24:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.20s (batch: 4.15s, save: 9.05s)	[pipeline.py: 300]
+05/10 17:24:32 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.38s:
+  episode_total: mean=205.17s, total=205.17s, count=1, min=205166.1ms, max=205166.1ms
+  sensor_polling: mean=516.5ms, total=154.95s, count=300, min=442.4ms, max=905.9ms
+  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.0ms, max=9050.0ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=18.3ms, max=81.7ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
+  task_sampling: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms
+  task_specific_sample: mean=376.9ms, total=376.9ms, count=1, min=376.9ms, max=376.9ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=425.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:24:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:24:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:24:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:24:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:24:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:24:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:24:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002939m	[env.py: 870]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:24:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95357074  1.03202977  0.00293937] yaw=-133.4deg	[env.py: 1019]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71375855  0.17955533  0.00293937] yaw=154.9deg	[env.py: 1019]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20267193  1.08205376  0.00293937] yaw=-130.3deg	[env.py: 1019]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:24:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.7ms, total=241.7ms	[env.py: 1075]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.954, 1.032, 0.003)	[env.py: 1079]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg	[env.py: 1082]
+05/10 17:24:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:24:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:24:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:24:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:24:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:24:35 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:24:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:24:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:24:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:24:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.129s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:24:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:24:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.503[m] 85.504[deg]	[grasp_sample.py: 539]
+05/10 17:24:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:24:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:24:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:25:10 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:25:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:25:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:25:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:25:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:25:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:25:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:25:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:25:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:25:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.842s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:25:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.184[deg]	[grasp_sample.py: 539]
+05/10 17:25:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:25:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:25:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:25:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:25:37 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:25:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:25:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:25:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:25:43 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:25:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:25:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:25:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:25:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:25:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.04s (batch: 4.92s, save: 9.12s)	[pipeline.py: 300]
+05/10 17:25:52 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.00s:
+  episode_total: mean=243.75s, total=243.75s, count=1, min=243749.0ms, max=243749.0ms
+  sensor_polling: mean=522.8ms, total=156.83s, count=300, min=452.6ms, max=831.9ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.2ms, max=9122.2ms
+  physics_step: mean=25.7ms, total=7.71s, count=300, min=17.6ms, max=105.4ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.6ms, max=4915.6ms
+  task_sampling: mean=1.00s, total=1.00s, count=1, min=1004.2ms, max=1004.2ms
+  task_specific_sample: mean=999.5ms, total=999.5ms, count=1, min=999.5ms, max=999.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=611.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:25:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:25:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:25:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:25:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:25:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:25:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:25:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:25:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037019m	[env.py: 870]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:25:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71672516  0.17855958  0.03701894] yaw=165.8deg	[env.py: 1019]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10541327  1.22030768  0.03701894] yaw=-132.7deg	[env.py: 1019]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01018772  1.31002052  0.03701894] yaw=-124.2deg	[env.py: 1019]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:25:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms	[env.py: 1075]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.179, 0.037)	[env.py: 1079]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
+05/10 17:25:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:25:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:25:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:25:54 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:25:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:25:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:25:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:25:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:25:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:25:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.601[m] 95.352[deg]	[grasp_sample.py: 539]
+05/10 17:25:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:25:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:25:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:25:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:26:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:26:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:26:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:26:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:26:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:26:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.79s (batch: 4.88s, save: 8.91s)	[pipeline.py: 300]
+05/10 17:26:23 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.65s:
+  episode_total: mean=209.83s, total=209.83s, count=1, min=209827.6ms, max=209827.6ms
+  sensor_polling: mean=517.9ms, total=155.37s, count=300, min=440.2ms, max=1016.2ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8913.5ms, max=8913.5ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=18.5ms, max=93.6ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4880.2ms, max=4880.2ms
+  task_sampling: mean=649.7ms, total=649.7ms, count=1, min=649.7ms, max=649.7ms
+  task_specific_sample: mean=645.4ms, total=645.4ms, count=1, min=645.4ms, max=645.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=525.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:26:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:26:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:26:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:26:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:26:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:26:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:26:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089918m	[env.py: 870]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:26:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89886955  1.07010146  0.08991766] yaw=-149.8deg	[env.py: 1019]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82383164  0.98757154  0.08991766] yaw=-157.4deg	[env.py: 1019]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80602179  0.42407297  0.08991766] yaw=186.2deg	[env.py: 1019]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:26:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.8ms	[env.py: 1075]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 1.070, 0.090)	[env.py: 1079]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg	[env.py: 1082]
+05/10 17:26:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:26:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:26:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:26:25 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:26:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:26:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:26:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:26:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:26:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:26:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.560[m] 82.388[deg]	[grasp_sample.py: 539]
+05/10 17:26:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:26:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:26:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:26:42 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:27:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:27:04 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:27:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:27:04 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:27:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:27:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:27:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:27:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:27:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.89s (batch: 4.32s, save: 8.57s)	[pipeline.py: 300]
+05/10 17:27:18 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s:
+  episode_total: mean=244.89s, total=244.89s, count=1, min=244885.2ms, max=244885.2ms
+  sensor_polling: mean=516.6ms, total=154.99s, count=300, min=452.0ms, max=757.4ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.5ms, max=8571.5ms
+  physics_step: mean=24.7ms, total=7.40s, count=300, min=18.4ms, max=75.0ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.9ms, max=4321.9ms
+  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
+  task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=418.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:27:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:27:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:27:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:27:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:27:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:27:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:27:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:27:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:27:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:27:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056143m	[env.py: 870]
+05/10 17:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:27:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76487977  1.02911056  0.05614299] yaw=-140.8deg	[env.py: 1019]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:27:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.0ms, total=172.1ms	[env.py: 1075]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 1.029, 0.056)	[env.py: 1079]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
+05/10 17:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/10 17:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:27:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:27:20 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:27:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:27:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:27:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:27:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:27:21 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:27:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:27:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.961s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:27:24 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.707[m] 104.478[deg]	[grasp_sample.py: 539]
+05/10 17:27:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:27:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:27:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:27:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:27:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:27:46 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:27:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:27:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:28:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:28:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:28:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.76s (batch: 4.40s, save: 9.36s)	[pipeline.py: 300]
+05/10 17:28:01 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
+  episode_total: mean=206.39s, total=206.39s, count=1, min=206389.7ms, max=206389.7ms
+  sensor_polling: mean=505.1ms, total=151.52s, count=300, min=429.4ms, max=735.0ms
+  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9360.7ms, max=9360.7ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.4ms, max=92.9ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4396.7ms, max=4396.7ms
+  task_sampling: mean=516.9ms, total=516.9ms, count=1, min=516.9ms, max=516.9ms
+  task_specific_sample: mean=513.3ms, total=513.3ms, count=1, min=513.3ms, max=513.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=416.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:28:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:28:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:28:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:28:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:28:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:28:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:28:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025267m	[env.py: 870]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:28:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6495169   0.40472941  0.02526703] yaw=179.8deg	[env.py: 1019]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74735011  0.29456883  0.02526703] yaw=162.9deg	[env.py: 1019]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80815211  1.09965361  0.02526703] yaw=-133.9deg	[env.py: 1019]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:28:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms	[env.py: 1075]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.405, 0.025)	[env.py: 1079]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.8 deg	[env.py: 1082]
+05/10 17:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:28:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:28:03 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:28:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:28:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:28:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:28:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:28:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.029s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:28:04 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.634[m] 96.421[deg]	[grasp_sample.py: 539]
+05/10 17:28:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:28:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:28:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:28:44 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:28:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:28:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:29:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:29:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:29:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:29:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:29:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:29:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:29:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:29:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:29:24 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:29:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:29:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:29:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.78s (batch: 5.08s, save: 9.70s)	[pipeline.py: 300]
+05/10 17:29:28 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
+  episode_total: mean=214.17s, total=214.17s, count=1, min=214173.3ms, max=214173.3ms
+  sensor_polling: mean=511.9ms, total=153.57s, count=300, min=448.0ms, max=797.3ms
+  save_trajectories: mean=9.70s, total=9.70s, count=1, min=9696.6ms, max=9696.6ms
+  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.2ms, max=60.5ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5081.5ms, max=5081.5ms
+  task_sampling: mean=441.1ms, total=441.1ms, count=1, min=441.1ms, max=441.1ms
+  task_specific_sample: mean=436.1ms, total=436.1ms, count=1, min=436.1ms, max=436.1ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=596.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:29:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:29:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:29:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:29:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:29:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:29:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:29:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:29:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:29:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:29:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091079m	[env.py: 870]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:29:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7509442   0.7270803   0.09107921] yaw=-168.2deg	[env.py: 1019]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09583779  1.01782562  0.09107921] yaw=-144.8deg	[env.py: 1019]
+05/10 17:29:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.64094598  0.4436323   0.09107921] yaw=167.7deg	[env.py: 1019]
+05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:29:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.9ms, total=317.9ms	[env.py: 1075]
+05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.727, 0.091)	[env.py: 1079]
+05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg	[env.py: 1082]
+05/10 17:29:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/10 17:29:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:29:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:29:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:29:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:29:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:29:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:29:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:29:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:29:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:29:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:29:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:29:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.541[m] 83.747[deg]	[grasp_sample.py: 539]
+05/10 17:29:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:29:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:29:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:29:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:29:48 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:29:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:29:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:30:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:30:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:30:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.13s (batch: 4.22s, save: 8.91s)	[pipeline.py: 300]
+05/10 17:30:02 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.38s:
+  episode_total: mean=217.44s, total=217.44s, count=1, min=217440.7ms, max=217440.7ms
+  sensor_polling: mean=517.2ms, total=155.15s, count=300, min=445.6ms, max=777.7ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.5ms, max=8912.5ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=15.5ms, max=62.7ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.4ms, max=4220.4ms
+  task_sampling: mean=383.1ms, total=383.1ms, count=1, min=383.1ms, max=383.1ms
+  task_specific_sample: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=410.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:30:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:30:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:30:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:30:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:30:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:30:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:30:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068757m	[env.py: 870]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:30:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07853709  1.19261764  0.06875739] yaw=-125.8deg	[env.py: 1019]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92180884  0.43106909  0.06875739] yaw=186.6deg	[env.py: 1019]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:30:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms	[env.py: 1075]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.079, 1.193, 0.069)	[env.py: 1079]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -125.8 deg	[env.py: 1082]
+05/10 17:30:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:30:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:30:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:30:04 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:30:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:30:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:30:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:30:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:30:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.561s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:30:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.562[m] 101.807[deg]	[grasp_sample.py: 539]
+05/10 17:30:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:30:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:30:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:30:09 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:30:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:30:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:30:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:30:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:30:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:30:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:30:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:30:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:30:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.98s (batch: 4.27s, save: 8.70s)	[pipeline.py: 300]
+05/10 17:30:45 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.56s:
+  episode_total: mean=205.61s, total=205.61s, count=1, min=205611.0ms, max=205611.0ms
+  sensor_polling: mean=512.7ms, total=153.80s, count=300, min=441.1ms, max=882.1ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.6ms, max=8703.6ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=15.4ms, max=76.9ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.4ms, max=4272.4ms
+  task_sampling: mean=557.3ms, total=557.3ms, count=1, min=557.3ms, max=557.3ms
+  task_specific_sample: mean=553.3ms, total=553.3ms, count=1, min=553.3ms, max=553.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=450.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:30:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:30:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:30:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:30:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:30:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:30:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:30:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:30:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:30:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:30:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:30:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039937m	[env.py: 870]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:30:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97790237  1.18738973  0.03993746] yaw=-127.3deg	[env.py: 1019]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98013548  0.85655849  0.03993746] yaw=-141.8deg	[env.py: 1019]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:30:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:30:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=570.5ms, total=570.5ms	[env.py: 1075]
+05/10 17:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.187, 0.040)	[env.py: 1079]
+05/10 17:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.3 deg	[env.py: 1082]
+05/10 17:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/10 17:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:30:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:30:48 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:30:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:30:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:30:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:30:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:30:50 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:30:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.152s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:30:53 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.656[m] 104.230[deg]	[grasp_sample.py: 539]
+05/10 17:30:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:30:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:30:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:31:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:31:18 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:31:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:31:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:31:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:31:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:31:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:31:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:31:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 13.98s (batch: 5.03s, save: 8.95s)	[pipeline.py: 300]
+05/10 17:31:33 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s:
+  episode_total: mean=210.42s, total=210.42s, count=1, min=210416.4ms, max=210416.4ms
+  sensor_polling: mean=514.8ms, total=154.45s, count=300, min=436.3ms, max=942.0ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8947.3ms, max=8947.3ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.0ms, max=78.1ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5029.9ms, max=5029.9ms
+  task_sampling: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
+  task_specific_sample: mean=442.8ms, total=442.8ms, count=1, min=442.8ms, max=442.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=431.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:31:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:31:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:31:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:31:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:31:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:31:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:31:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072628m	[env.py: 870]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:31:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7150578   0.64904781  0.07262835] yaw=-178.9deg	[env.py: 1019]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01787697  0.12065318  0.07262835] yaw=149.7deg	[env.py: 1019]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6749485   0.72885778  0.07262835] yaw=-162.3deg	[env.py: 1019]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:31:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.8ms, total=212.8ms	[env.py: 1075]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.649, 0.073)	[env.py: 1079]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.9 deg	[env.py: 1082]
+05/10 17:31:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:31:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:31:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:31:35 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:31:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:31:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:31:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:31:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:31:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.134s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:31:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.587[m] 90.191[deg]	[grasp_sample.py: 539]
+05/10 17:31:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:31:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:31:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:32:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:32:16 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:32:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:32:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:32:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:32:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:32:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:32:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:32:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:32:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:32:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:32:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:32:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:32:44 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:32:44 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 2.086[deg]	[grasp_sample.py: 539]
+05/10 17:32:45 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:32:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:32:46 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:32:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:32:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:32:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:32:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:32:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:32:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:32:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:32:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:32:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094633m	[env.py: 870]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:32:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8700357   0.5216637   0.09463261] yaw=-170.6deg	[env.py: 1019]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72572802  0.71489559  0.09463261] yaw=-173.1deg	[env.py: 1019]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7962643   0.10225993  0.09463261] yaw=153.8deg	[env.py: 1019]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:32:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms	[env.py: 1075]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.522, 0.095)	[env.py: 1079]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.6 deg	[env.py: 1082]
+05/10 17:32:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:32:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:32:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:32:47 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:32:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:32:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:32:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:32:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:32:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:32:48 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 85.452[deg]	[grasp_sample.py: 539]
+05/10 17:32:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:32:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:32:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:32:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:33:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:33:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:33:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.87s (batch: 4.37s, save: 10.50s)	[pipeline.py: 300]
+05/10 17:33:01 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s:
+  episode_total: mean=212.03s, total=212.03s, count=1, min=212027.3ms, max=212027.3ms
+  sensor_polling: mean=513.7ms, total=154.11s, count=300, min=444.9ms, max=1019.7ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10500.8ms, max=10500.8ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=16.0ms, max=106.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.8ms, max=4366.8ms
+  task_sampling: mean=626.0ms, total=626.0ms, count=1, min=626.0ms, max=626.0ms
+  task_specific_sample: mean=622.4ms, total=622.4ms, count=1, min=622.4ms, max=622.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=389.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:33:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:33:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:33:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:33:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:33:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:33:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:33:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:33:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080632m	[env.py: 870]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:33:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04181356  1.06795503  0.08063241] yaw=-149.2deg	[env.py: 1019]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78783006  0.37283871  0.08063241] yaw=167.5deg	[env.py: 1019]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08996294  0.92576279  0.08063241] yaw=-132.6deg	[env.py: 1019]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:33:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.1ms, total=110.1ms	[env.py: 1075]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.068, 0.081)	[env.py: 1079]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg	[env.py: 1082]
+05/10 17:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:33:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:33:03 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:33:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:33:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:33:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:33:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:33:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.843s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:33:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.478[m] 86.133[deg]	[grasp_sample.py: 539]
+05/10 17:33:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:33:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:33:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:33:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:33:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:33:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:33:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:33:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:33:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:33:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:33:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:33:41 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.655s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 17:33:41 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 17:33:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:33:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:33:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:33:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:33:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:33:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:33:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:33:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005555m	[env.py: 870]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:33:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79796191  0.59032679  0.00555468] yaw=-171.8deg	[env.py: 1019]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65768666  0.59803248  0.00555468] yaw=-166.6deg	[env.py: 1019]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7340947   0.36144263  0.00555468] yaw=164.7deg	[env.py: 1019]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:33:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms	[env.py: 1075]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.590, 0.006)	[env.py: 1079]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg	[env.py: 1082]
+05/10 17:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:33:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:33:43 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:33:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:33:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:33:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:33:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:33:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:33:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.461[m] 92.295[deg]	[grasp_sample.py: 539]
+05/10 17:33:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:33:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:33:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:33:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:34:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:34:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:34:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:34:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:34:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:34:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:34:53 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:34:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:34:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:35:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:35:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:35:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.22s (batch: 4.21s, save: 12.01s)	[pipeline.py: 300]
+05/10 17:35:10 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
+  episode_total: mean=215.04s, total=215.04s, count=1, min=215035.3ms, max=215035.3ms
+  sensor_polling: mean=523.8ms, total=157.13s, count=300, min=454.3ms, max=985.1ms
+  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12008.1ms, max=12008.1ms
+  physics_step: mean=24.7ms, total=7.42s, count=300, min=18.2ms, max=73.9ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4208.9ms, max=4208.9ms
+  task_sampling: mean=492.8ms, total=492.8ms, count=1, min=492.8ms, max=492.8ms
+  task_specific_sample: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=600.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:35:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:35:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:35:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:35:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:35:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:35:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:35:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013682m	[env.py: 870]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:35:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97653745  0.18343455  0.01368157] yaw=148.6deg	[env.py: 1019]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19776336  1.11498076  0.01368157] yaw=-131.7deg	[env.py: 1019]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89518412  0.22370362  0.01368157] yaw=168.7deg	[env.py: 1019]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:35:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.8ms, total=255.8ms	[env.py: 1075]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.183, 0.014)	[env.py: 1079]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg	[env.py: 1082]
+05/10 17:35:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.785m	[env.py: 1086]
+05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:35:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:35:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:35:12 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:35:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:35:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:35:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:35:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:35:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:35:13 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.370[m] 88.898[deg]	[grasp_sample.py: 539]
+05/10 17:35:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:35:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:35:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:35:33 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:35:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:35:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:35:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:35:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:35:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:35:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:35:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:35:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:35:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:35:58 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:35:58 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.292[deg]	[grasp_sample.py: 539]
+05/10 17:35:59 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:36:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:36:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:36:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:36:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:36:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:36:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:36:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084168m	[env.py: 870]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:36:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74264052  0.66169076  0.08416833] yaw=-177.1deg	[env.py: 1019]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0231657   0.11188859  0.08416833] yaw=140.5deg	[env.py: 1019]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:36:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=272.9ms, total=272.9ms	[env.py: 1075]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.662, 0.084)	[env.py: 1079]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg	[env.py: 1082]
+05/10 17:36:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:36:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:36:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:36:01 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:36:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:36:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:36:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:36:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:36:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:36:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.595[m] 102.653[deg]	[grasp_sample.py: 539]
+05/10 17:36:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:36:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:36:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:36:03 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:36:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:36:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:36:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:36:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:36:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:36:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:36:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.73s (batch: 4.39s, save: 12.34s)	[pipeline.py: 300]
+05/10 17:36:21 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.89s:
+  episode_total: mean=187.67s, total=375.35s, count=2, min=161090.6ms, max=214256.0ms
+  sensor_polling: mean=515.9ms, total=286.86s, count=556, min=438.9ms, max=1051.2ms
+  physics_step: mean=25.8ms, total=14.36s, count=556, min=15.5ms, max=148.1ms
+  save_trajectories: mean=12.34s, total=12.34s, count=1, min=12340.1ms, max=12340.1ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.9ms, max=4387.9ms
+  task_sampling: mean=446.2ms, total=892.4ms, count=2, min=369.3ms, max=523.1ms
+  task_specific_sample: mean=442.5ms, total=885.0ms, count=2, min=365.9ms, max=519.1ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
+  mj_forward_sync: mean=428.2us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:36:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:36:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:36:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:36:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:36:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:36:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:36:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:36:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:36:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:36:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032590m	[env.py: 870]
+05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:36:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:36:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.2ms, total=166.2ms	[env.py: 1105]
+05/10 17:36:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 17:36:23 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 17:36:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:36:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:36:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:36:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:36:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:36:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:36:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:36:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:36:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:36:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:36:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073044m	[env.py: 870]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:36:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.0ms, total=156.0ms	[env.py: 1105]
+05/10 17:36:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 17:36:24 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 17:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:36:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:36:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:36:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:36:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044975m	[env.py: 870]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85628692  1.0240235   0.04497494] yaw=-145.6deg	[env.py: 1019]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67045274  0.4570988   0.04497494] yaw=184.4deg	[env.py: 1019]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65920743  0.81893979  0.04497494] yaw=-171.2deg	[env.py: 1019]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.3ms	[env.py: 1075]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 1.024, 0.045)	[env.py: 1079]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg	[env.py: 1082]
+05/10 17:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:36:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:36:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:36:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:36:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:36:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:36:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:36:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:36:29 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.573[m] 93.416[deg]	[grasp_sample.py: 539]
+05/10 17:36:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:36:32 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/10 17:36:32 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/10 17:36:32 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
+05/10 17:36:32 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4946.70s
+  House averages:
+  episode_total: mean=149.35s, total=2688.26s, count=18, min=164.1ms, max=242778.1ms
+  sensor_polling: mean=519.0ms, total=1972.26s, count=3800, min=436.5ms, max=1051.2ms
+  save_trajectories: mean=10.06s, total=110.69s, count=11, min=8869.9ms, max=12340.1ms
+  physics_step: mean=25.9ms, total=98.57s, count=3800, min=14.8ms, max=148.1ms
+  save_batch_prep: mean=4.43s, total=48.72s, count=11, min=4104.5ms, max=5008.3ms
+  task_sampling: mean=722.2ms, total=11.55s, count=16, min=366.9ms, max=3906.0ms
+  task_specific_sample: mean=477.2ms, total=8.59s, count=18, min=160.6ms, max=667.9ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
+  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
+  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
+  task_sampling_failed: mean=171.2ms, total=342.3ms, count=2, min=164.1ms, max=178.2ms
+  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
+  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
+  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
+  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
+  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  mj_forward_sync: mean=508.2us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  policy_setup: mean=21.5us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 17:36:32 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 17:36:32 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4946.70s
+  Worker averages:
+  episode_total: mean=149.35s, total=2688.26s, count=18, min=164.1ms, max=242778.1ms
+  sensor_polling: mean=519.0ms, total=1972.26s, count=3800, min=436.5ms, max=1051.2ms
+  save_trajectories: mean=10.06s, total=110.69s, count=11, min=8869.9ms, max=12340.1ms
+  physics_step: mean=25.9ms, total=98.57s, count=3800, min=14.8ms, max=148.1ms
+  save_batch_prep: mean=4.43s, total=48.72s, count=11, min=4104.5ms, max=5008.3ms
+  task_sampling: mean=722.2ms, total=11.55s, count=16, min=366.9ms, max=3906.0ms
+  task_specific_sample: mean=477.2ms, total=8.59s, count=18, min=160.6ms, max=667.9ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
+  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
+  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
+  task_sampling_failed: mean=171.2ms, total=342.3ms, count=2, min=164.1ms, max=178.2ms
+  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
+  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
+  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
+  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
+  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  mj_forward_sync: mean=508.2us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  policy_setup: mean=21.5us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 17:36:35 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 17:36:35 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
+05/10 17:36:35 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 17:36:37 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:36:59 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:36:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:36:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:37:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:37:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:37:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:37:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:37:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:37:12 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:37:12 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.362[deg]	[grasp_sample.py: 539]
+05/10 17:37:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:37:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:37:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:37:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.64s (batch: 4.20s, save: 8.44s)	[pipeline.py: 300]
+05/10 17:37:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:37:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:37:13 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.69s:
+  episode_total: mean=192.04s, total=384.07s, count=2, min=173598.9ms, max=210473.2ms
+  sensor_polling: mean=529.1ms, total=307.94s, count=582, min=439.0ms, max=950.2ms
+  physics_step: mean=26.8ms, total=15.61s, count=582, min=15.1ms, max=121.4ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8443.2ms, max=8443.2ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.3ms, max=4201.3ms
+  task_sampling: mean=847.0ms, total=1.69s, count=2, min=448.4ms, max=1245.5ms
+  task_specific_sample: mean=842.9ms, total=1.69s, count=2, min=445.2ms, max=1240.6ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=526.0us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:37:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:37:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:37:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:37:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:37:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:37:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:37:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034546m	[env.py: 870]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:37:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75350632  0.13593235  0.03454601] yaw=150.4deg	[env.py: 1019]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75932814  0.20555604  0.03454601] yaw=155.8deg	[env.py: 1019]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84895012  0.26176307  0.03454601] yaw=174.4deg	[env.py: 1019]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:37:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.2ms, total=114.2ms	[env.py: 1075]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.136, 0.035)	[env.py: 1079]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.4 deg	[env.py: 1082]
+05/10 17:37:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:37:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:37:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:37:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:37:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:37:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:37:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:37:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:37:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.933s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:37:17 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.561[m] 82.330[deg]	[grasp_sample.py: 539]
+05/10 17:37:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:37:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:37:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:37:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:37:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:37:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:38:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:38:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:38:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:38:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:38:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:38:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:38:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:38:08 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.785[deg]	[grasp_sample.py: 539]
+05/10 17:38:10 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:38:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:38:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:38:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:38:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:38:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:38:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:38:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011567m	[env.py: 870]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:38:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97232301  1.18637109  0.01156734] yaw=-139.1deg	[env.py: 1019]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04901432  1.12286869  0.01156734] yaw=-144.6deg	[env.py: 1019]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06430825  1.09020911  0.01156734] yaw=-137.4deg	[env.py: 1019]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:38:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=313.0ms, total=313.0ms	[env.py: 1075]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.186, 0.012)	[env.py: 1079]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg	[env.py: 1082]
+05/10 17:38:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:38:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:38:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:38:12 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:38:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:38:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:38:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:38:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:38:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.126s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:38:13 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.555[m] 83.844[deg]	[grasp_sample.py: 539]
+05/10 17:38:15 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:38:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:38:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:38:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:38:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:38:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:38:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:38:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089542m	[env.py: 870]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:38:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78416093  0.55597652  0.08954222] yaw=-173.1deg	[env.py: 1019]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95220744  0.64642095  0.08954222] yaw=-170.2deg	[env.py: 1019]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91171516  0.8768097   0.08954222] yaw=-163.0deg	[env.py: 1019]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:38:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.4ms	[env.py: 1075]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.556, 0.090)	[env.py: 1079]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg	[env.py: 1082]
+05/10 17:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:38:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:38:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:38:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:38:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:38:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:38:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:38:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:38:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.479[m] 87.115[deg]	[grasp_sample.py: 539]
+05/10 17:38:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:38:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:38:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:38:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:38:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:38:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:38:42 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:39:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:39:12 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:39:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:39:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:39:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:39:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:39:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:39:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:39:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.42s (batch: 4.66s, save: 9.76s)	[pipeline.py: 300]
+05/10 17:39:27 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.97s:
+  episode_total: mean=191.09s, total=382.17s, count=2, min=176121.7ms, max=206050.6ms
+  sensor_polling: mean=510.5ms, total=296.61s, count=581, min=426.2ms, max=989.0ms
+  physics_step: mean=24.9ms, total=14.48s, count=581, min=16.2ms, max=98.8ms
+  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9763.5ms, max=9763.5ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4659.4ms, max=4659.4ms
+  task_sampling: mean=485.0ms, total=970.1ms, count=2, min=430.6ms, max=539.5ms
+  task_specific_sample: mean=481.5ms, total=963.0ms, count=2, min=426.7ms, max=536.3ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=427.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:39:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:39:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:39:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:39:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:39:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:39:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:39:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022779m	[env.py: 870]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:39:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95125534  1.00602707  0.02277898] yaw=-141.2deg	[env.py: 1019]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01935284  1.18761965  0.02277898] yaw=-144.9deg	[env.py: 1019]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85745569  1.02470961  0.02277898] yaw=-139.7deg	[env.py: 1019]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:39:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.0ms, total=286.1ms	[env.py: 1075]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 1.006, 0.023)	[env.py: 1079]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg	[env.py: 1082]
+05/10 17:39:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:39:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:39:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:39:29 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:39:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:39:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:39:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:39:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:39:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.528s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:39:33 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.521[m] 91.669[deg]	[grasp_sample.py: 539]
+05/10 17:39:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:39:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:39:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:40:07 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:40:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:40:29 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:40:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:40:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:40:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:40:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:40:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:40:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:40:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 14.26s (batch: 4.18s, save: 10.09s)	[pipeline.py: 300]
+05/10 17:40:44 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.43s:
+  episode_total: mean=210.02s, total=210.02s, count=1, min=210019.0ms, max=210019.0ms
+  sensor_polling: mean=525.3ms, total=157.60s, count=300, min=448.8ms, max=1130.4ms
+  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10086.0ms, max=10086.0ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=18.1ms, max=111.2ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4177.8ms, max=4177.8ms
+  task_sampling: mean=430.0ms, total=430.0ms, count=1, min=430.0ms, max=430.0ms
+  task_specific_sample: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=415.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:40:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:40:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:40:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:40:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:40:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:40:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:40:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056516m	[env.py: 870]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:40:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94003423  0.16454842  0.05651629] yaw=157.8deg	[env.py: 1019]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76037567  0.49217918  0.05651629] yaw=-173.7deg	[env.py: 1019]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:40:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.7ms	[env.py: 1075]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.165, 0.057)	[env.py: 1079]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.8 deg	[env.py: 1082]
+05/10 17:40:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:40:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:40:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:40:46 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:40:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:40:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:40:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:40:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:40:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:40:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.360[m] 86.319[deg]	[grasp_sample.py: 539]
+05/10 17:40:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:40:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:40:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:40:56 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:41:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:41:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:41:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:41:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:41:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:41:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:41:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:41:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.87s (batch: 4.01s, save: 8.86s)	[pipeline.py: 300]
+05/10 17:41:38 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.80s:
+  episode_total: mean=127.51s, total=382.53s, count=3, min=2986.7ms, max=201461.4ms
+  sensor_polling: mean=506.6ms, total=279.16s, count=551, min=423.3ms, max=1095.1ms
+  physics_step: mean=23.6ms, total=13.03s, count=551, min=14.6ms, max=67.5ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8864.6ms, max=8864.6ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.8ms, max=4008.8ms
+  task_sampling: mean=598.8ms, total=1.80s, count=3, min=587.9ms, max=618.5ms
+  task_specific_sample: mean=593.4ms, total=1.78s, count=3, min=583.9ms, max=609.9ms
+  scene_randomize: mean=3.8ms, total=11.3ms, count=3, min=1.8ms, max=7.1ms
+  mj_forward_sync: mean=491.2us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:41:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:41:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:41:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:41:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:41:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:41:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:41:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055595m	[env.py: 870]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:41:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03397762  0.8875124   0.05559498] yaw=-159.7deg	[env.py: 1019]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68489156  0.83624136  0.05559498] yaw=-155.5deg	[env.py: 1019]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7900286   0.10648065  0.05559498] yaw=160.3deg	[env.py: 1019]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:41:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=574.9ms, total=574.9ms	[env.py: 1075]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.034, 0.888, 0.056)	[env.py: 1079]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg	[env.py: 1082]
+05/10 17:41:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:41:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:41:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:41:41 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:41:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:41:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:41:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:41:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:41:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:41:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.184s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:41:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.386[m] 92.918[deg]	[grasp_sample.py: 539]
+05/10 17:41:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:41:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:41:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:42:12 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:42:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:40 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:42:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:42:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:42:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:42:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:42:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:42:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:42:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:42:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]	[grasp_sample.py: 539]
+05/10 17:42:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:42:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:42:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:42:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:42:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:42:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 15.18s (batch: 4.10s, save: 11.09s)	[pipeline.py: 300]
+05/10 17:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:56 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.61s:
+  episode_total: mean=207.43s, total=207.43s, count=1, min=207425.6ms, max=207425.6ms
+  sensor_polling: mean=495.5ms, total=148.66s, count=300, min=426.5ms, max=1033.6ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11085.6ms, max=11085.6ms
+  physics_step: mean=24.4ms, total=7.31s, count=300, min=15.4ms, max=119.6ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.5ms, max=4096.5ms
+  task_sampling: mean=606.1ms, total=606.1ms, count=1, min=606.1ms, max=606.1ms
+  task_specific_sample: mean=601.6ms, total=601.6ms, count=1, min=601.6ms, max=601.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=537.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:42:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:42:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:42:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:42:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:42:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:42:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015870m	[env.py: 870]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:42:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94581488  0.16438712  0.01587004] yaw=161.9deg	[env.py: 1019]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78884937  0.43339334  0.01587004] yaw=175.8deg	[env.py: 1019]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94734098  0.275493    0.01587004] yaw=173.6deg	[env.py: 1019]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:42:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms	[env.py: 1075]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.164, 0.016)	[env.py: 1079]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg	[env.py: 1082]
+05/10 17:42:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:42:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:42:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:42:58 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:42:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:42:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:42:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:42:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:42:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:42:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:42:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:42:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:42:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:42:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:42:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.368[m] 84.831[deg]	[grasp_sample.py: 539]
+05/10 17:42:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:42:59 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:42:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]	[grasp_sample.py: 539]
+05/10 17:43:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:43:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:43:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:43:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:43:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:43:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:43:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:43:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:43:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:43:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:43:13 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.348s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:43:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]	[grasp_sample.py: 539]
+05/10 17:43:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:43:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:43:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:43:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:43:26 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 17:43:27 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 17:43:27 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=False episode_total=0.51s:
+  episode_total: mean=160.86s, total=160.86s, count=1, min=160861.3ms, max=160861.3ms
+  sensor_polling: mean=524.4ms, total=110.12s, count=210, min=427.2ms, max=1165.1ms
+  physics_step: mean=24.8ms, total=5.22s, count=210, min=12.9ms, max=119.9ms
+  task_sampling: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
+  task_specific_sample: mean=502.4ms, total=502.4ms, count=1, min=502.4ms, max=502.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=436.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:43:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:43:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:43:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:43:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:43:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:43:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:43:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:43:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:43:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:43:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070869m	[env.py: 870]
+05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:43:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6965765   0.45003992  0.07086929] yaw=176.8deg	[env.py: 1019]
+05/10 17:43:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69652137  0.28877264  0.07086929] yaw=179.6deg	[env.py: 1019]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87155419  0.6764731   0.07086929] yaw=-155.8deg	[env.py: 1019]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:43:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms	[env.py: 1075]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.450, 0.071)	[env.py: 1079]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg	[env.py: 1082]
+05/10 17:43:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/10 17:43:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:43:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:43:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:43:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:43:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:43:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:43:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:43:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:43:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:43:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:43:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.530[m] 83.337[deg]	[grasp_sample.py: 539]
+05/10 17:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:43:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:43:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:43:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:43:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:43:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:44:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:44:26 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:44:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:44:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:44:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:44:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:44:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:44:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:44:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:44:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:44:47 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.415s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:44:47 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.554[deg]	[grasp_sample.py: 539]
+05/10 17:44:48 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:44:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:44:48 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/10 17:44:49 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:44:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:44:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:44:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:44:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:44:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:44:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:44:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003239m	[env.py: 870]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:44:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74844951  0.19096303  0.00323913] yaw=169.6deg	[env.py: 1019]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82809614  0.07729581  0.00323913] yaw=164.9deg	[env.py: 1019]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87107734  0.06647943  0.00323913] yaw=149.8deg	[env.py: 1019]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:44:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.7ms	[env.py: 1075]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.191, 0.003)	[env.py: 1079]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
+05/10 17:44:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:44:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:44:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:44:51 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:44:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:44:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:44:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:44:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:44:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.131s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:44:52 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.533[m] 87.300[deg]	[grasp_sample.py: 539]
+05/10 17:44:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:44:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:44:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:45:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:45:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:45:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 16.23s (batch: 4.61s, save: 11.62s)	[pipeline.py: 300]
+05/10 17:45:05 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.92s:
+  episode_total: mean=205.31s, total=205.31s, count=1, min=205314.5ms, max=205314.5ms
+  sensor_polling: mean=514.3ms, total=152.75s, count=297, min=422.5ms, max=1106.1ms
+  save_trajectories: mean=11.62s, total=11.62s, count=1, min=11621.6ms, max=11621.6ms
+  physics_step: mean=25.2ms, total=7.49s, count=297, min=18.0ms, max=73.8ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4612.1ms, max=4612.1ms
+  task_sampling: mean=915.7ms, total=915.7ms, count=1, min=915.7ms, max=915.7ms
+  task_specific_sample: mean=911.1ms, total=911.1ms, count=1, min=911.1ms, max=911.1ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=517.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:45:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:45:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:45:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:45:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:45:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:45:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:45:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075220m	[env.py: 870]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:45:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94408293  0.56574534  0.07521978] yaw=-173.2deg	[env.py: 1019]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95875377  0.72071778  0.07521978] yaw=-157.5deg	[env.py: 1019]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03255107  1.11767978  0.07521978] yaw=-143.3deg	[env.py: 1019]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:45:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms	[env.py: 1075]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.566, 0.075)	[env.py: 1079]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg	[env.py: 1082]
+05/10 17:45:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.763m	[env.py: 1086]
+05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:45:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:45:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:45:07 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:45:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:45:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:45:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:45:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:45:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:45:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.299[m] 75.748[deg]	[grasp_sample.py: 539]
+05/10 17:45:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:45:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:45:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:45:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:45:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:45:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:45:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:46:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:46:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:46:13 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:46:33 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:46:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:46:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:46:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:46:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:46:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.43s (batch: 4.12s, save: 8.31s)	[pipeline.py: 300]
+05/10 17:46:46 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s:
+  episode_total: mean=197.73s, total=197.73s, count=1, min=197730.3ms, max=197730.3ms
+  sensor_polling: mean=504.8ms, total=151.44s, count=300, min=425.9ms, max=901.1ms
+  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8307.1ms, max=8307.1ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=15.3ms, max=114.7ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.1ms, max=4124.1ms
+  task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
+  task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=440.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:46:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:46:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:46:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:46:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:46:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:46:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:46:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018811m	[env.py: 870]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:46:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99026769  0.82555632  0.01881063] yaw=-144.2deg	[env.py: 1019]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99727605  1.29964612  0.01881063] yaw=-123.6deg	[env.py: 1019]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95585164  0.83276541  0.01881063] yaw=-143.6deg	[env.py: 1019]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:46:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=674.4ms, total=674.4ms	[env.py: 1075]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.826, 0.019)	[env.py: 1079]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg	[env.py: 1082]
+05/10 17:46:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:46:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:46:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:46:49 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:46:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:46:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:46:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:46:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:46:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:46:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.392[m] 97.087[deg]	[grasp_sample.py: 539]
+05/10 17:46:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:46:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:46:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:47:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:47:32 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:47:36 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:47:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:47:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:47:55 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:47:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:47:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:47:56 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:47:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:47:56 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/10 17:48:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:48:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:48:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.15s (batch: 4.24s, save: 7.91s)	[pipeline.py: 300]
+05/10 17:48:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:48:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:48:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 11.59s (batch: 4.00s, save: 7.59s)	[pipeline.py: 300]
+05/10 17:48:08 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.90s:
+  episode_total: mean=153.87s, total=307.75s, count=2, min=110752.6ms, max=196996.6ms
+  sensor_polling: mean=494.2ms, total=240.20s, count=486, min=437.2ms, max=1065.0ms
+  physics_step: mean=24.5ms, total=11.91s, count=486, min=15.3ms, max=72.5ms
+  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7909.1ms, max=7909.1ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4242.7ms, max=4242.7ms
+  task_sampling: mean=448.4ms, total=896.7ms, count=2, min=437.4ms, max=459.4ms
+  task_specific_sample: mean=443.4ms, total=886.9ms, count=2, min=433.7ms, max=453.2ms
+  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.4ms, max=2.5ms
+  mj_forward_sync: mean=489.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:48:08 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.50s:
+  episode_total: mean=181.53s, total=181.53s, count=1, min=181529.6ms, max=181529.6ms
+  sensor_polling: mean=491.4ms, total=137.58s, count=280, min=437.7ms, max=791.6ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7586.4ms, max=7586.4ms
+  physics_step: mean=22.6ms, total=6.34s, count=280, min=15.3ms, max=36.6ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.0ms, max=4002.0ms
+  task_sampling: mean=501.3ms, total=501.3ms, count=1, min=501.3ms, max=501.3ms
+  task_specific_sample: mean=497.5ms, total=497.5ms, count=1, min=497.5ms, max=497.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=401.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:48:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:48:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:48:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:48:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:48:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:48:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:48:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094005m	[env.py: 870]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:48:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67645912  0.67906522  0.09400473] yaw=-159.0deg	[env.py: 1019]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:48:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.0ms, total=253.1ms	[env.py: 1075]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.676, 0.679, 0.094)	[env.py: 1079]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg	[env.py: 1082]
+05/10 17:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:48:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:48:10 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:48:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:48:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:48:10 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/10 17:48:10 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/10 17:48:10 INFO: [Worker 0] Worker 0 completed house 1: 11/14 successful episodes	[pipeline.py: 1323]
+05/10 17:48:10 INFO: [Worker 0] [PROFILE] House 1 complete: 11/14 successful, 14 episodes, total_time=6176.26s
+  House averages:
+  episode_total: mean=188.12s, total=3386.23s, count=18, min=2986.7ms, max=250575.0ms
+  sensor_polling: mean=517.8ms, total=2488.47s, count=4806, min=422.5ms, max=1106.1ms
+  physics_step: mean=24.8ms, total=119.07s, count=4806, min=13.0ms, max=121.4ms
+  save_trajectories: mean=9.58s, total=105.42s, count=11, min=7586.4ms, max=13202.6ms
+  save_batch_prep: mean=4.33s, total=47.58s, count=11, min=4002.0ms, max=5029.9ms
+  task_sampling: mean=707.4ms, total=12.73s, count=18, min=380.6ms, max=3323.3ms
+  task_specific_sample: mean=539.3ms, total=9.71s, count=18, min=371.9ms, max=911.1ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
+  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
+  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
+  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
+  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
+  scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=7.1ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 17:48:10 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 17:48:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6176.26s
+  Worker averages:
+  episode_total: mean=188.12s, total=3386.23s, count=18, min=2986.7ms, max=250575.0ms
+  sensor_polling: mean=517.8ms, total=2488.47s, count=4806, min=422.5ms, max=1106.1ms
+  physics_step: mean=24.8ms, total=119.07s, count=4806, min=13.0ms, max=121.4ms
+  save_trajectories: mean=9.58s, total=105.42s, count=11, min=7586.4ms, max=13202.6ms
+  save_batch_prep: mean=4.33s, total=47.58s, count=11, min=4002.0ms, max=5029.9ms
+  task_sampling: mean=707.4ms, total=12.73s, count=18, min=380.6ms, max=3323.3ms
+  task_specific_sample: mean=539.3ms, total=9.71s, count=18, min=371.9ms, max=911.1ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
+  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
+  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
+  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
+  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
+  scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=7.1ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 17:48:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:48:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.108s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:48:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.618[m] 93.699[deg]	[grasp_sample.py: 539]
+05/10 17:48:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:48:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:48:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:48:13 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 17:48:13 INFO: Success count: 11, Total count: 14	[pipeline.py: 1491]
+05/10 17:48:13 INFO: Success rate: 78.57%	[pipeline.py: 1492]
+05/10 17:49:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:49:15 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:49:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:49:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:49:36 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:49:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:49:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:49:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:49:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:49:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.75s (batch: 4.16s, save: 8.60s)	[pipeline.py: 300]
+05/10 17:49:49 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.95s:
+  episode_total: mean=181.60s, total=181.60s, count=1, min=181602.6ms, max=181602.6ms
+  sensor_polling: mean=455.8ms, total=136.75s, count=300, min=430.9ms, max=702.1ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.3ms, max=8598.3ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=15.3ms, max=60.3ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4155.5ms, max=4155.5ms
+  task_sampling: mean=951.6ms, total=951.6ms, count=1, min=951.6ms, max=951.6ms
+  task_specific_sample: mean=947.7ms, total=947.7ms, count=1, min=947.7ms, max=947.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=443.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:49:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:49:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:49:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:49:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:49:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:49:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:49:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038916m	[env.py: 870]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:49:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95989546  0.15490859  0.03891584] yaw=163.8deg	[env.py: 1019]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8509482   0.61731675  0.03891584] yaw=-177.0deg	[env.py: 1019]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91610024  0.15764415  0.03891584] yaw=163.3deg	[env.py: 1019]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:49:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms	[env.py: 1075]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.155, 0.039)	[env.py: 1079]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg	[env.py: 1082]
+05/10 17:49:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:49:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:49:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:49:52 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:49:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:49:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:49:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:49:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:49:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:49:52 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.397[m] 93.873[deg]	[grasp_sample.py: 539]
+05/10 17:49:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:49:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:49:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:50:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:50:36 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:50:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:50:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:50:58 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_004	[pipeline.py: 1174]
+05/10 17:50:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:50:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:51:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:51:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004	[save_utils.py: 785]
+05/10 17:51:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_004 in 12.14s (batch: 4.14s, save: 8.00s)	[pipeline.py: 300]
+05/10 17:51:11 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s:
+  episode_total: mean=181.36s, total=181.36s, count=1, min=181359.8ms, max=181359.8ms
+  sensor_polling: mean=453.3ms, total=135.98s, count=300, min=429.2ms, max=704.1ms
+  save_trajectories: mean=8.00s, total=8.00s, count=1, min=8000.9ms, max=8000.9ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=15.3ms, max=31.1ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.2ms, max=4138.2ms
+  task_sampling: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms
+  task_specific_sample: mean=584.2ms, total=584.2ms, count=1, min=584.2ms, max=584.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=416.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:51:12 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/10 17:51:12 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/10 17:51:12 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes	[pipeline.py: 1323]
+05/10 17:51:12 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=6569.09s
+  House averages:
+  episode_total: mean=198.33s, total=3569.87s, count=18, min=110752.6ms, max=243749.0ms
+  sensor_polling: mean=510.9ms, total=2631.46s, count=5151, min=426.2ms, max=1145.0ms
+  save_trajectories: mean=10.00s, total=139.94s, count=14, min=7909.1ms, max=12441.8ms
+  physics_step: mean=24.9ms, total=128.29s, count=5151, min=15.1ms, max=135.7ms
+  save_batch_prep: mean=4.62s, total=64.65s, count=14, min=4096.5ms, max=5475.4ms
+  task_sampling: mean=806.0ms, total=14.51s, count=18, min=430.6ms, max=4826.3ms
+  task_specific_sample: mean=573.9ms, total=10.33s, count=18, min=426.7ms, max=999.5ms
+  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
+  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
+  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
+  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
+  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
+  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
+  scene_randomize: mean=2.6ms, total=46.6ms, count=18, min=1.3ms, max=6.2ms
+  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=493.8us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 17:51:12 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 17:51:12 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6569.09s
+  Worker averages:
+  episode_total: mean=198.33s, total=3569.87s, count=18, min=110752.6ms, max=243749.0ms
+  sensor_polling: mean=510.9ms, total=2631.46s, count=5151, min=426.2ms, max=1145.0ms
+  save_trajectories: mean=10.00s, total=139.94s, count=14, min=7909.1ms, max=12441.8ms
+  physics_step: mean=24.9ms, total=128.29s, count=5151, min=15.1ms, max=135.7ms
+  save_batch_prep: mean=4.62s, total=64.65s, count=14, min=4096.5ms, max=5475.4ms
+  task_sampling: mean=806.0ms, total=14.51s, count=18, min=430.6ms, max=4826.3ms
+  task_specific_sample: mean=573.9ms, total=10.33s, count=18, min=426.7ms, max=999.5ms
+  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
+  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
+  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
+  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
+  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
+  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
+  scene_randomize: mean=2.6ms, total=46.6ms, count=18, min=1.3ms, max=6.2ms
+  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=493.8us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 17:51:15 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 17:51:15 INFO: Success count: 14, Total count: 15	[pipeline.py: 1491]
+05/10 17:51:15 INFO: Success rate: 93.33%	[pipeline.py: 1492]
+05/10 17:51:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:51:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:51:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:51:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:51:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:51:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:51:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:51:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:51:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:51:47 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.469s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:51:47 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.230[deg]	[grasp_sample.py: 539]
+05/10 17:51:48 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:51:50 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/10 17:51:50 WARNING: [Worker 0] No trajectory data to save for chunk_004	[pipeline.py: 234]
+05/10 17:51:50 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes	[pipeline.py: 1323]
+05/10 17:51:50 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=6613.37s
+  House averages:
+  episode_total: mean=200.39s, total=3607.07s, count=18, min=116928.2ms, max=256877.0ms
+  sensor_polling: mean=516.0ms, total=2643.31s, count=5123, min=425.9ms, max=1165.1ms
+  save_trajectories: mean=9.71s, total=135.98s, count=14, min=8307.1ms, max=11428.8ms
+  physics_step: mean=25.3ms, total=129.63s, count=5123, min=12.9ms, max=134.6ms
+  save_batch_prep: mean=4.57s, total=63.92s, count=14, min=4124.1ms, max=5835.0ms
+  task_sampling: mean=790.3ms, total=14.22s, count=18, min=377.4ms, max=4101.4ms
+  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=373.7ms, max=1240.6ms
+  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
+  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
+  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
+  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
+  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
+  scene_randomize: mean=3.2ms, total=58.1ms, count=18, min=1.2ms, max=13.2ms
+  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=466.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  policy_setup: mean=22.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 17:51:50 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 17:51:50 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6613.37s
+  Worker averages:
+  episode_total: mean=200.39s, total=3607.07s, count=18, min=116928.2ms, max=256877.0ms
+  sensor_polling: mean=516.0ms, total=2643.31s, count=5123, min=425.9ms, max=1165.1ms
+  save_trajectories: mean=9.71s, total=135.98s, count=14, min=8307.1ms, max=11428.8ms
+  physics_step: mean=25.3ms, total=129.63s, count=5123, min=12.9ms, max=134.6ms
+  save_batch_prep: mean=4.57s, total=63.92s, count=14, min=4124.1ms, max=5835.0ms
+  task_sampling: mean=790.3ms, total=14.22s, count=18, min=377.4ms, max=4101.4ms
+  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=373.7ms, max=1240.6ms
+  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
+  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
+  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
+  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
+  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
+  scene_randomize: mean=3.2ms, total=58.1ms, count=18, min=1.2ms, max=13.2ms
+  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=466.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  policy_setup: mean=22.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 17:51:52 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 17:51:52 INFO: Success count: 14, Total count: 15	[pipeline.py: 1491]
+05/10 17:51:52 INFO: Success rate: 93.33%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_004/shard_1_of_4.log b/fridge_7/chunk_004/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..ed7dd456acee3185fbd737514b4b64f831bc354c
--- /dev/null
+++ b/fridge_7/chunk_004/shard_1_of_4.log
@@ -0,0 +1,1874 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_004
+  shard=1/4  seed=20401  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:51:11 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 16:51:11 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 16:51:11 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_004'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 16:51:11 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7746eb0fd310>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20401,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:51:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 16:51:11 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 16:51:11 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 131146473902224 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 131146473902224 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 131146473902224 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 131146473902224 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 131146479284944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 131146479284944 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 131146479284368 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 131146479284368 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 131146479284368 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 131146479284368 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 131146479284944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 131146479284944 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 131146477454352 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 131146477454352 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 131146477453776 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 131146477453776 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 131146477453776 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 131146477453776 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 131146477454352 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 131146477454352 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 16:51:11 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 59737bc07a10 at 0x7746eb627350>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 59737bc09520 at 0x7746eb245790>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 59737bc09520 at 0x7746eb5b1590>
+[05/10 16:51:14 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:51:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 16:51:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:51:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:51:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020761m
+[05/10 16:51:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:51:14 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 16:51:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79766661  0.50718083  0.02076148] yaw=-175.2deg
+[05/10 16:51:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85698145  0.34753821  0.02076148] yaw=168.2deg
+[05/10 16:51:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1136326   0.95812965  0.02076148] yaw=-137.6deg
+[05/10 16:51:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:51:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:51:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=15.1ms, retries=84.1ms, total=99.1ms
+[05/10 16:51:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.507, 0.021)
+[05/10 16:51:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg
+[05/10 16:51:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.905m
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:51:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:51:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 16:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 31.326s
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.471[m] 92.240[deg]
+[05/10 16:51:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:51:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:51:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:52:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:52:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:54:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 16:55:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:55:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 16:55:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:55:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 16:55:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:55:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 17.83s (batch: 4.63s, save: 13.20s)
+[05/10 16:55:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.32s:
+  episode_total: mean=250.58s, total=250.58s, count=1, min=250575.0ms, max=250575.0ms
+  sensor_polling: mean=530.5ms, total=159.14s, count=300, min=451.9ms, max=868.1ms
+  save_trajectories: mean=13.20s, total=13.20s, count=1, min=13202.6ms, max=13202.6ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=18.2ms, max=74.2ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4631.9ms, max=4631.9ms
+  task_sampling: mean=3.32s, total=3.32s, count=1, min=3323.3ms, max=3323.3ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
+  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
+  task_specific_sample: mean=371.9ms, total=371.9ms, count=1, min=371.9ms, max=371.9ms
+  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
+  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
+  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=455.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:55:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:55:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:55:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:55:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:55:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:55:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:55:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:55:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:55:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:55:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:55:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 16:55:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:55:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:55:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076620m
+[05/10 16:55:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:55:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:55:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:55:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82343257  0.13654     0.07661975] yaw=147.3deg
+[05/10 16:55:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:55:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85921987  0.98368862  0.07661975] yaw=-147.5deg
+[05/10 16:55:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:55:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81021313  0.0102866   0.07661975] yaw=148.3deg
+[05/10 16:55:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:55:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:55:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.9ms, total=134.9ms
+[05/10 16:55:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.823, 0.137, 0.077)
+[05/10 16:55:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 147.3 deg
+[05/10 16:55:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.944m
+[05/10 16:55:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:55:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:55:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:55:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:55:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 16:55:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
+[05/10 16:55:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:55:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:55:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 16:55:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True
+[05/10 16:55:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.486[m] 83.805[deg]
+[05/10 16:55:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:56:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:56:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:57:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:57:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:57:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:57:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:57:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:57:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:57:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:58:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:58:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:58:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:58:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 80 non-colliding grasps
+[05/10 16:58:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.619s, found feasible grasp: True
+[05/10 16:58:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.317[deg]
+[05/10 16:58:03 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:58:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:58:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:58:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:58:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:58:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:58:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:58:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:58:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:58:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:58:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 16:58:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:58:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:58:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029858m
+[05/10 16:58:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:58:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:58:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:58:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:58:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.16478897  1.15397728  0.02985841] yaw=-132.8deg
+[05/10 16:58:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:58:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:58:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:58:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:58:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:58:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=597.4ms, total=597.5ms
+[05/10 16:58:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.165, 1.154, 0.030)
+[05/10 16:58:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg
+[05/10 16:58:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.861m
+[05/10 16:58:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:58:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:58:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:58:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:58:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 16:58:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.116s
+[05/10 16:58:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:58:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:58:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 16:58:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.996s, found feasible grasp: True
+[05/10 16:58:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 87.609[deg]
+[05/10 16:58:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:58:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:59:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:00:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:00:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:00:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:00:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:00:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:00:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:00:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:00:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:00:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:00:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:00:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:00:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:00:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 17:00:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.680s, found feasible grasp: True
+[05/10 17:00:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.275[deg]
+[05/10 17:00:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:00:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:00:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:00:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:00:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:00:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:00:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:00:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:00:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:00:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:00:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:00:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
+[05/10 17:00:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:00:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:00:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058159m
+[05/10 17:00:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:00:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:00:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03059561  0.13822054  0.05815927] yaw=161.4deg
+[05/10 17:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.99391468  1.03407053  0.05815927] yaw=-130.9deg
+[05/10 17:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:00:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:00:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=295.8ms, total=295.8ms
+[05/10 17:00:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.031, 0.138, 0.058)
+[05/10 17:00:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg
+[05/10 17:00:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.755m
+[05/10 17:00:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:00:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:00:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:00:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:00:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:00:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 17:00:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 17:00:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:00:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:00:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 17:00:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.477s, found feasible grasp: True
+[05/10 17:00:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.357[m] 89.921[deg]
+[05/10 17:00:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:00:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:00:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:01:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:01:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:02:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:02:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:02:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:02:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:02:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:02:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:02:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:02:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:02:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:02:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:02:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 84 non-colliding grasps
+[05/10 17:02:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.508s, found feasible grasp: True
+[05/10 17:02:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.025[m] 0.876[deg]
+[05/10 17:02:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:02:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:02:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:03:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:03:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:03:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:03:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:03:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 17:03:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:03:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:03:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
+[05/10 17:03:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.733s, found feasible grasp: True
+[05/10 17:03:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.957[deg]
+[05/10 17:03:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:03:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:03:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:03:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:03:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:03:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:04:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 17:04:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:04:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:04:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 68 non-colliding grasps
+[05/10 17:04:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.866s, found feasible grasp: True
+[05/10 17:04:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.269[deg]
+[05/10 17:04:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:04:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False
+[05/10 17:04:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=False episode_total=1.91s:
+  episode_total: mean=175.50s, total=526.51s, count=3, min=144538.3ms, max=222010.7ms
+  sensor_polling: mean=522.9ms, total=412.58s, count=789, min=434.0ms, max=949.7ms
+  physics_step: mean=25.0ms, total=19.70s, count=789, min=15.3ms, max=88.3ms
+  task_sampling: mean=635.4ms, total=1.91s, count=3, min=453.7ms, max=871.3ms
+  task_specific_sample: mean=631.5ms, total=1.89s, count=3, min=449.6ms, max=867.5ms
+  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.5ms, max=2.7ms
+  mj_forward_sync: mean=489.8us, total=1.5ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 17:04:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:04:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:04:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:04:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:04:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:04:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:04:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:04:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:04:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:04:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:04:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 17:04:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:04:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:04:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061022m
+[05/10 17:04:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:04:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:04:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:04:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95058998  0.29946864  0.0610222 ] yaw=166.6deg
+[05/10 17:04:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:04:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01330132  0.93919637  0.0610222 ] yaw=-144.3deg
+[05/10 17:04:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:04:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79825427  0.85730678  0.0610222 ] yaw=-161.2deg
+[05/10 17:04:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:04:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:04:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms
+[05/10 17:04:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.299, 0.061)
+[05/10 17:04:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.6 deg
+[05/10 17:04:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
+[05/10 17:04:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:04:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:04:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:04:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:04:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:04:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 17:04:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 17:04:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:04:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:04:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 17:04:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.444s, found feasible grasp: True
+[05/10 17:04:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.341[m] 90.636[deg]
+[05/10 17:04:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:04:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:04:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:04:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:05:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:05:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:05:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:05:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:05:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:06:01 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:06:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:06:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:06:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps
+[05/10 17:06:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.482s, found feasible grasp: True
+[05/10 17:06:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.566[deg]
+[05/10 17:06:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:06:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:06:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:06:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:06:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:06:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:06:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:06:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:06:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 17:06:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:06:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:06:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps
+[05/10 17:06:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.808s, found feasible grasp: True
+[05/10 17:06:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.567[deg]
+[05/10 17:06:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:06:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:06:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:06:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:06:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:06:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:06:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:06:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:06:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 17:06:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:06:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:06:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
+[05/10 17:06:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.482s, found feasible grasp: True
+[05/10 17:06:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.567[deg]
+[05/10 17:06:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:06:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:06:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:06:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:06:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:06:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:06:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:06:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:06:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:06:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 17:06:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=False
+[05/10 17:06:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=False episode_total=0.44s:
+  episode_total: mean=156.23s, total=156.23s, count=1, min=156233.8ms, max=156233.8ms
+  sensor_polling: mean=521.9ms, total=98.65s, count=189, min=443.2ms, max=926.7ms
+  physics_step: mean=24.8ms, total=4.68s, count=189, min=13.0ms, max=68.6ms
+  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
+  task_specific_sample: mean=440.5ms, total=440.5ms, count=1, min=440.5ms, max=440.5ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=436.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:06:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:06:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:06:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:06:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:06:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:06:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:06:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:06:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:06:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:06:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:06:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
+[05/10 17:06:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:06:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:06:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003954m
+[05/10 17:06:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:06:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:06:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:06:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73503568  0.38566862  0.00395391] yaw=173.4deg
+[05/10 17:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80931307  1.11245414  0.00395391] yaw=-147.2deg
+[05/10 17:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:06:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:06:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69214394  0.40749149  0.00395391] yaw=176.6deg
+[05/10 17:06:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:06:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:06:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=148.6ms, total=148.7ms
+[05/10 17:06:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.735, 0.386, 0.004)
+[05/10 17:06:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.4 deg
+[05/10 17:06:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.972m
+[05/10 17:06:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:06:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:06:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:06:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:06:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:06:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 17:06:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
+[05/10 17:06:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:06:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:06:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps
+[05/10 17:06:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.544s, found feasible grasp: True
+[05/10 17:06:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.542[m] 93.060[deg]
+[05/10 17:06:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:06:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:07:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:07:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:09:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:10:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:10:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:10:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:10:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:10:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:10:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.41s (batch: 4.28s, save: 8.13s)
+[05/10 17:10:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.50s:
+  episode_total: mean=222.66s, total=222.66s, count=1, min=222661.3ms, max=222661.3ms
+  sensor_polling: mean=512.2ms, total=153.66s, count=300, min=448.6ms, max=947.6ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8132.4ms, max=8132.4ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=15.9ms, max=74.0ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4281.0ms, max=4281.0ms
+  task_sampling: mean=502.9ms, total=502.9ms, count=1, min=502.9ms, max=502.9ms
+  task_specific_sample: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=524.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:10:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:10:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:10:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:10:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:10:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:10:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:10:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:10:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:10:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:10:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:10:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 17:10:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:10:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:10:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014344m
+[05/10 17:10:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:10:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:10:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:10:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:10:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85201209  0.60554841  0.01434356] yaw=-171.9deg
+[05/10 17:10:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:10:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82581802  0.98306711  0.01434356] yaw=-143.3deg
+[05/10 17:10:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:10:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:10:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74807173  0.5563308   0.01434356] yaw=-167.1deg
+[05/10 17:10:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:10:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:10:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.4ms, total=118.4ms
+[05/10 17:10:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 0.606, 0.014)
+[05/10 17:10:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.9 deg
+[05/10 17:10:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.859m
+[05/10 17:10:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:10:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:10:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:10:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:10:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 17:10:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 17:10:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:10:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:10:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 17:10:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
+[05/10 17:10:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.430[m] 86.835[deg]
+[05/10 17:10:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:10:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:10:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:11:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:11:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:13:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:13:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:13:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:13:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:14:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:14:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:14:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.42s (batch: 4.12s, save: 8.30s)
+[05/10 17:14:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
+  episode_total: mean=209.27s, total=209.27s, count=1, min=209268.9ms, max=209268.9ms
+  sensor_polling: mean=530.0ms, total=159.01s, count=300, min=451.3ms, max=947.0ms
+  save_trajectories: mean=8.30s, total=8.30s, count=1, min=8301.7ms, max=8301.7ms
+  physics_step: mean=25.5ms, total=7.66s, count=300, min=15.9ms, max=96.2ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4120.1ms, max=4120.1ms
+  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
+  task_specific_sample: mean=402.4ms, total=402.4ms, count=1, min=402.4ms, max=402.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:14:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:14:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:14:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:14:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:14:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:14:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:14:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:14:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:14:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:14:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:14:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 17:14:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:14:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:14:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013440m
+[05/10 17:14:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:14:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:14:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:14:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7793246   0.29345708  0.01344034] yaw=177.3deg
+[05/10 17:14:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:14:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:14:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:14:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:14:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:14:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90928358  0.17910897  0.01344034] yaw=163.1deg
+[05/10 17:14:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:14:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:14:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=211.0ms, total=211.0ms
+[05/10 17:14:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.293, 0.013)
+[05/10 17:14:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.3 deg
+[05/10 17:14:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m
+[05/10 17:14:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:14:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:14:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:14:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:14:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:14:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 17:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 17:14:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:14:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:14:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 17:14:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True
+[05/10 17:14:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.520[m] 88.429[deg]
+[05/10 17:14:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:15:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:15:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:15:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:17:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:17:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:17:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:17:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:17:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:17:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:17:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.49s (batch: 4.15s, save: 8.35s)
+[05/10 17:17:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.58s:
+  episode_total: mean=209.81s, total=209.81s, count=1, min=209813.1ms, max=209813.1ms
+  sensor_polling: mean=543.1ms, total=162.93s, count=300, min=449.9ms, max=945.1ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8346.1ms, max=8346.1ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=121.4ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4145.9ms, max=4145.9ms
+  task_sampling: mean=580.0ms, total=580.0ms, count=1, min=580.0ms, max=580.0ms
+  task_specific_sample: mean=574.6ms, total=574.6ms, count=1, min=574.6ms, max=574.6ms
+  scene_randomize: mean=3.7ms, total=3.7ms, count=1, min=3.7ms, max=3.7ms
+  mj_forward_sync: mean=713.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:17:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:17:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:17:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:17:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:17:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:17:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:17:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:17:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:17:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:17:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:17:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
+[05/10 17:17:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:17:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:17:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048874m
+[05/10 17:17:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:17:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:17:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:17:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.66208755  0.29235679  0.04887372] yaw=159.6deg
+[05/10 17:17:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:17:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95144446  1.06900427  0.04887372] yaw=-152.2deg
+[05/10 17:17:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:17:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:17:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.3ms
+[05/10 17:17:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.662, 0.292, 0.049)
+[05/10 17:17:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg
+[05/10 17:17:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
+[05/10 17:17:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:17:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:17:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:17:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:17:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:17:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 17:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 17:17:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:17:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:17:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 17:17:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.937s, found feasible grasp: True
+[05/10 17:17:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.607[m] 86.377[deg]
+[05/10 17:17:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:18:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:19:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:19:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:19:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:19:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:19:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:19:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:19:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:19:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
+[05/10 17:19:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.489s, found feasible grasp: True
+[05/10 17:19:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.304[deg]
+[05/10 17:19:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:19:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:19:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:19:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:19:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:20:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:20:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 17:20:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:20:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:20:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps
+[05/10 17:20:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.690s, found feasible grasp: True
+[05/10 17:20:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.784[deg]
+[05/10 17:20:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:20:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:20:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:20:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:20:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:20:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:20:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:20:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 17:20:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:20:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:20:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 68 non-colliding grasps
+[05/10 17:20:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.789s, found feasible grasp: True
+[05/10 17:20:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.380[deg]
+[05/10 17:20:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:21:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:21:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=False
+[05/10 17:21:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=False episode_total=0.52s:
+  episode_total: mean=204.78s, total=204.78s, count=1, min=204780.1ms, max=204780.1ms
+  sensor_polling: mean=516.5ms, total=154.94s, count=300, min=436.5ms, max=864.3ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=14.8ms, max=87.8ms
+  task_sampling: mean=519.9ms, total=519.9ms, count=1, min=519.9ms, max=519.9ms
+  task_specific_sample: mean=515.6ms, total=515.6ms, count=1, min=515.6ms, max=515.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=541.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:21:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:21:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:21:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:21:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:21:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:21:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:21:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:21:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:21:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:21:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:21:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 17:21:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:21:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:21:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053024m
+[05/10 17:21:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:21:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:21:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:21:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:21:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:21:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84179512  0.97827093  0.05302439] yaw=-159.8deg
+[05/10 17:21:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:21:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:21:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65379461  0.68458045  0.05302439] yaw=-167.3deg
+[05/10 17:21:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:21:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81753313  0.8920796   0.05302439] yaw=-161.7deg
+[05/10 17:21:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:21:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:21:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.6ms, total=119.6ms
+[05/10 17:21:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.842, 0.978, 0.053)
+[05/10 17:21:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.8 deg
+[05/10 17:21:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
+[05/10 17:21:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:21:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:21:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:21:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:21:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:21:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 17:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 17:21:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:21:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:21:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 17:21:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.259s, found feasible grasp: True
+[05/10 17:21:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.562[m] 75.624[deg]
+[05/10 17:21:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:22:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:23:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:24:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:24:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:24:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:24:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:24:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:24:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.20s (batch: 4.15s, save: 9.05s)
+[05/10 17:24:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.38s:
+  episode_total: mean=205.17s, total=205.17s, count=1, min=205166.1ms, max=205166.1ms
+  sensor_polling: mean=516.5ms, total=154.95s, count=300, min=442.4ms, max=905.9ms
+  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.0ms, max=9050.0ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=18.3ms, max=81.7ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4147.4ms, max=4147.4ms
+  task_sampling: mean=380.6ms, total=380.6ms, count=1, min=380.6ms, max=380.6ms
+  task_specific_sample: mean=376.9ms, total=376.9ms, count=1, min=376.9ms, max=376.9ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=425.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:24:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:24:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:24:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:24:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:24:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:24:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:24:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:24:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:24:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:24:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:24:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
+[05/10 17:24:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:24:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:24:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002939m
+[05/10 17:24:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:24:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:24:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:24:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:24:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:24:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95357074  1.03202977  0.00293937] yaw=-133.4deg
+[05/10 17:24:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:24:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71375855  0.17955533  0.00293937] yaw=154.9deg
+[05/10 17:24:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:24:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:24:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.20267193  1.08205376  0.00293937] yaw=-130.3deg
+[05/10 17:24:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:24:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:24:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.7ms, total=241.7ms
+[05/10 17:24:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.954, 1.032, 0.003)
+[05/10 17:24:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.4 deg
+[05/10 17:24:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.929m
+[05/10 17:24:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:24:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:24:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:24:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:24:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:24:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 17:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.118s
+[05/10 17:24:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:24:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:24:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.129s, found 88 non-colliding grasps
+[05/10 17:24:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.651s, found feasible grasp: True
+[05/10 17:24:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.503[m] 85.504[deg]
+[05/10 17:24:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:24:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:24:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:25:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:25:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:27:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:27:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:27:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:27:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:28:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:28:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:28:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.76s (batch: 4.40s, save: 9.36s)
+[05/10 17:28:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.52s:
+  episode_total: mean=206.39s, total=206.39s, count=1, min=206389.7ms, max=206389.7ms
+  sensor_polling: mean=505.1ms, total=151.52s, count=300, min=429.4ms, max=735.0ms
+  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9360.7ms, max=9360.7ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.4ms, max=92.9ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4396.7ms, max=4396.7ms
+  task_sampling: mean=516.9ms, total=516.9ms, count=1, min=516.9ms, max=516.9ms
+  task_specific_sample: mean=513.3ms, total=513.3ms, count=1, min=513.3ms, max=513.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=416.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:28:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:28:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:28:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:28:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:28:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:28:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:28:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:28:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:28:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:28:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:28:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 17:28:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:28:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:28:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025267m
+[05/10 17:28:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:28:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:28:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6495169   0.40472941  0.02526703] yaw=179.8deg
+[05/10 17:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74735011  0.29456883  0.02526703] yaw=162.9deg
+[05/10 17:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80815211  1.09965361  0.02526703] yaw=-133.9deg
+[05/10 17:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:28:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:28:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms
+[05/10 17:28:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.650, 0.405, 0.025)
+[05/10 17:28:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.8 deg
+[05/10 17:28:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.056m
+[05/10 17:28:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:28:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:28:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:28:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:28:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:28:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 17:28:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
+[05/10 17:28:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:28:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:28:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 17:28:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.029s, found feasible grasp: True
+[05/10 17:28:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.634[m] 96.421[deg]
+[05/10 17:28:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:29:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:29:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:29:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:30:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:31:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:31:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:31:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:31:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:31:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:31:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.98s (batch: 5.03s, save: 8.95s)
+[05/10 17:31:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s:
+  episode_total: mean=210.42s, total=210.42s, count=1, min=210416.4ms, max=210416.4ms
+  sensor_polling: mean=514.8ms, total=154.45s, count=300, min=436.3ms, max=942.0ms
+  save_trajectories: mean=8.95s, total=8.95s, count=1, min=8947.3ms, max=8947.3ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.0ms, max=78.1ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5029.9ms, max=5029.9ms
+  task_sampling: mean=446.6ms, total=446.6ms, count=1, min=446.6ms, max=446.6ms
+  task_specific_sample: mean=442.8ms, total=442.8ms, count=1, min=442.8ms, max=442.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=431.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:31:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:31:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:31:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:31:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:31:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:31:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:31:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:31:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:31:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:31:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:31:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/10 17:31:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:31:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:31:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072628m
+[05/10 17:31:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:31:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:31:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 132.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:31:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:31:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7150578   0.64904781  0.07262835] yaw=-178.9deg
+[05/10 17:31:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:31:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.01787697  0.12065318  0.07262835] yaw=149.7deg
+[05/10 17:31:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:31:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.6749485   0.72885778  0.07262835] yaw=-162.3deg
+[05/10 17:31:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:31:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:31:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.8ms, total=212.8ms
+[05/10 17:31:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.649, 0.073)
+[05/10 17:31:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.9 deg
+[05/10 17:31:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
+[05/10 17:31:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:31:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:31:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:31:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:31:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:31:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 17:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 17:31:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:31:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:31:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 17:31:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.134s, found feasible grasp: True
+[05/10 17:31:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.587[m] 90.191[deg]
+[05/10 17:31:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:31:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:31:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:32:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:32:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:33:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:34:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:34:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:34:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:34:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:35:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:35:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:35:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.22s (batch: 4.21s, save: 12.01s)
+[05/10 17:35:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
+  episode_total: mean=215.04s, total=215.04s, count=1, min=215035.3ms, max=215035.3ms
+  sensor_polling: mean=523.8ms, total=157.13s, count=300, min=454.3ms, max=985.1ms
+  save_trajectories: mean=12.01s, total=12.01s, count=1, min=12008.1ms, max=12008.1ms
+  physics_step: mean=24.7ms, total=7.42s, count=300, min=18.2ms, max=73.9ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4208.9ms, max=4208.9ms
+  task_sampling: mean=492.8ms, total=492.8ms, count=1, min=492.8ms, max=492.8ms
+  task_specific_sample: mean=487.7ms, total=487.7ms, count=1, min=487.7ms, max=487.7ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=600.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:35:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:35:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:35:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:35:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:35:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:35:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:35:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:35:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:35:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:35:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:35:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 17:35:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:35:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:35:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013682m
+[05/10 17:35:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:35:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:35:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:35:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:35:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97653745  0.18343455  0.01368157] yaw=148.6deg
+[05/10 17:35:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:35:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:35:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.19776336  1.11498076  0.01368157] yaw=-131.7deg
+[05/10 17:35:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:35:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:35:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89518412  0.22370362  0.01368157] yaw=168.7deg
+[05/10 17:35:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:35:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:35:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=255.8ms, total=255.8ms
+[05/10 17:35:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.183, 0.014)
+[05/10 17:35:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.6 deg
+[05/10 17:35:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.785m
+[05/10 17:35:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:35:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:35:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:35:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:35:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:35:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 17:35:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.156s
+[05/10 17:35:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:35:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:35:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps
+[05/10 17:35:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.585s, found feasible grasp: True
+[05/10 17:35:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.370[m] 88.898[deg]
+[05/10 17:35:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:36:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:36:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:37:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:37:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:37:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:37:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:37:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:37:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:37:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:37:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:37:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 80 non-colliding grasps
+[05/10 17:37:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.413s, found feasible grasp: True
+[05/10 17:37:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.362[deg]
+[05/10 17:37:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:37:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:37:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:37:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:37:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:37:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:37:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:37:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:37:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:38:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:38:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:38:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 17:38:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:38:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:38:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps
+[05/10 17:38:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.058s, found feasible grasp: True
+[05/10 17:38:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.785[deg]
+[05/10 17:38:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:38:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:38:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:38:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:38:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:38:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:38:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:38:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:38:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:38:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:38:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:38:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 17:38:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:38:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:38:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011567m
+[05/10 17:38:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:38:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:38:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:38:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:38:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:38:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.97232301  1.18637109  0.01156734] yaw=-139.1deg
+[05/10 17:38:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:38:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:38:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.04901432  1.12286869  0.01156734] yaw=-144.6deg
+[05/10 17:38:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:38:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.06430825  1.09020911  0.01156734] yaw=-137.4deg
+[05/10 17:38:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:38:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:38:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=313.0ms, total=313.0ms
+[05/10 17:38:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.186, 0.012)
+[05/10 17:38:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.1 deg
+[05/10 17:38:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
+[05/10 17:38:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:38:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:38:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:38:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:38:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:38:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 17:38:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
+[05/10 17:38:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:38:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:38:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/10 17:38:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.126s, found feasible grasp: True
+[05/10 17:38:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.555[m] 83.844[deg]
+[05/10 17:38:15 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:38:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:38:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:38:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:38:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:38:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:38:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:38:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:38:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:38:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:38:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
+[05/10 17:38:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:38:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:38:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089542m
+[05/10 17:38:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:38:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:38:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:38:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:38:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:38:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78416093  0.55597652  0.08954222] yaw=-173.1deg
+[05/10 17:38:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:38:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95220744  0.64642095  0.08954222] yaw=-170.2deg
+[05/10 17:38:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:38:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91171516  0.8768097   0.08954222] yaw=-163.0deg
+[05/10 17:38:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:38:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:38:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.3ms, total=259.4ms
+[05/10 17:38:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.556, 0.090)
+[05/10 17:38:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg
+[05/10 17:38:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.921m
+[05/10 17:38:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:38:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:38:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:38:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:38:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 17:38:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 17:38:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:38:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:38:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 17:38:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.641s, found feasible grasp: True
+[05/10 17:38:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.479[m] 87.115[deg]
+[05/10 17:38:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:38:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:39:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:39:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:39:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:40:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:41:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:41:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:41:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:41:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:41:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:41:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.87s (batch: 4.01s, save: 8.86s)
+[05/10 17:41:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.80s:
+  episode_total: mean=127.51s, total=382.53s, count=3, min=2986.7ms, max=201461.4ms
+  sensor_polling: mean=506.6ms, total=279.16s, count=551, min=423.3ms, max=1095.1ms
+  physics_step: mean=23.6ms, total=13.03s, count=551, min=14.6ms, max=67.5ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8864.6ms, max=8864.6ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4008.8ms, max=4008.8ms
+  task_sampling: mean=598.8ms, total=1.80s, count=3, min=587.9ms, max=618.5ms
+  task_specific_sample: mean=593.4ms, total=1.78s, count=3, min=583.9ms, max=609.9ms
+  scene_randomize: mean=3.8ms, total=11.3ms, count=3, min=1.8ms, max=7.1ms
+  mj_forward_sync: mean=491.2us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 17:41:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:41:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:41:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:41:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:41:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:41:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:41:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:41:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:41:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:41:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:41:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 17:41:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:41:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:41:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055595m
+[05/10 17:41:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:41:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:41:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:41:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:41:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:41:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:41:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:41:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03397762  0.8875124   0.05559498] yaw=-159.7deg
+[05/10 17:41:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:41:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68489156  0.83624136  0.05559498] yaw=-155.5deg
+[05/10 17:41:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:41:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7900286   0.10648065  0.05559498] yaw=160.3deg
+[05/10 17:41:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:41:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:41:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=574.9ms, total=574.9ms
+[05/10 17:41:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.034, 0.888, 0.056)
+[05/10 17:41:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg
+[05/10 17:41:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.782m
+[05/10 17:41:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:41:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:41:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:41:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:41:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:41:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 17:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
+[05/10 17:41:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:41:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:41:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
+[05/10 17:41:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.184s, found feasible grasp: True
+[05/10 17:41:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.386[m] 92.918[deg]
+[05/10 17:41:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:41:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:41:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:42:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:42:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:42:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:44:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:44:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:44:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:44:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
+[05/10 17:45:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:45:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:45:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.23s (batch: 4.61s, save: 11.62s)
+[05/10 17:45:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.92s:
+  episode_total: mean=205.31s, total=205.31s, count=1, min=205314.5ms, max=205314.5ms
+  sensor_polling: mean=514.3ms, total=152.75s, count=297, min=422.5ms, max=1106.1ms
+  save_trajectories: mean=11.62s, total=11.62s, count=1, min=11621.6ms, max=11621.6ms
+  physics_step: mean=25.2ms, total=7.49s, count=297, min=18.0ms, max=73.8ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4612.1ms, max=4612.1ms
+  task_sampling: mean=915.7ms, total=915.7ms, count=1, min=915.7ms, max=915.7ms
+  task_specific_sample: mean=911.1ms, total=911.1ms, count=1, min=911.1ms, max=911.1ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=517.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:45:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:45:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:45:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:45:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:45:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:45:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:45:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:45:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:45:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:45:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:45:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
+[05/10 17:45:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:45:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:45:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075220m
+[05/10 17:45:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:45:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:45:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:45:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:45:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:45:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94408293  0.56574534  0.07521978] yaw=-173.2deg
+[05/10 17:45:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:45:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:45:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 154.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:45:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95875377  0.72071778  0.07521978] yaw=-157.5deg
+[05/10 17:45:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:45:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03255107  1.11767978  0.07521978] yaw=-143.3deg
+[05/10 17:45:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:45:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:45:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.4ms, total=218.4ms
+[05/10 17:45:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.944, 0.566, 0.075)
+[05/10 17:45:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.2 deg
+[05/10 17:45:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.763m
+[05/10 17:45:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:45:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:45:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:45:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:45:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:45:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 17:45:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 17:45:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:45:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:45:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 17:45:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.462s, found feasible grasp: True
+[05/10 17:45:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.299[m] 75.748[deg]
+[05/10 17:45:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:45:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:45:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:45:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:45:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:45:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:47:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:47:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:47:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 1/4: 1 episodes
+[05/10 17:47:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 281 timesteps
+[05/10 17:48:08 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:48:08 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:48:08 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 11.59s (batch: 4.00s, save: 7.59s)
+[05/10 17:48:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.50s:
+  episode_total: mean=181.53s, total=181.53s, count=1, min=181529.6ms, max=181529.6ms
+  sensor_polling: mean=491.4ms, total=137.58s, count=280, min=437.7ms, max=791.6ms
+  save_trajectories: mean=7.59s, total=7.59s, count=1, min=7586.4ms, max=7586.4ms
+  physics_step: mean=22.6ms, total=6.34s, count=280, min=15.3ms, max=36.6ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4002.0ms, max=4002.0ms
+  task_sampling: mean=501.3ms, total=501.3ms, count=1, min=501.3ms, max=501.3ms
+  task_specific_sample: mean=497.5ms, total=497.5ms, count=1, min=497.5ms, max=497.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=401.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:48:10 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
+[05/10 17:48:10 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
+[05/10 17:48:10 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/14 successful episodes
+[05/10 17:48:10 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/14 successful, 14 episodes, total_time=6176.26s
+  House averages:
+  episode_total: mean=188.12s, total=3386.23s, count=18, min=2986.7ms, max=250575.0ms
+  sensor_polling: mean=517.8ms, total=2488.47s, count=4806, min=422.5ms, max=1106.1ms
+  physics_step: mean=24.8ms, total=119.07s, count=4806, min=13.0ms, max=121.4ms
+  save_trajectories: mean=9.58s, total=105.42s, count=11, min=7586.4ms, max=13202.6ms
+  save_batch_prep: mean=4.33s, total=47.58s, count=11, min=4002.0ms, max=5029.9ms
+  task_sampling: mean=707.4ms, total=12.73s, count=18, min=380.6ms, max=3323.3ms
+  task_specific_sample: mean=539.3ms, total=9.71s, count=18, min=371.9ms, max=911.1ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
+  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
+  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
+  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
+  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
+  scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=7.1ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 17:48:10 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 17:48:10 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=6176.26s
+  Worker averages:
+  episode_total: mean=188.12s, total=3386.23s, count=18, min=2986.7ms, max=250575.0ms
+  sensor_polling: mean=517.8ms, total=2488.47s, count=4806, min=422.5ms, max=1106.1ms
+  physics_step: mean=24.8ms, total=119.07s, count=4806, min=13.0ms, max=121.4ms
+  save_trajectories: mean=9.58s, total=105.42s, count=11, min=7586.4ms, max=13202.6ms
+  save_batch_prep: mean=4.33s, total=47.58s, count=11, min=4002.0ms, max=5029.9ms
+  task_sampling: mean=707.4ms, total=12.73s, count=18, min=380.6ms, max=3323.3ms
+  task_specific_sample: mean=539.3ms, total=9.71s, count=18, min=371.9ms, max=911.1ms
+  scene_load: mean=2.95s, total=2.95s, count=1, min=2948.5ms, max=2948.5ms
+  scene_env_create: mean=1.81s, total=1.81s, count=1, min=1805.9ms, max=1805.9ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1002.5ms, max=1002.5ms
+  compile_mujoco: mean=716.1ms, total=716.1ms, count=1, min=716.1ms, max=716.1ms
+  compile_xml_load: mean=202.3ms, total=202.3ms, count=1, min=202.3ms, max=202.3ms
+  scene_init: mean=78.2ms, total=78.2ms, count=1, min=78.2ms, max=78.2ms
+  scene_asset_install: mean=61.6ms, total=61.6ms, count=1, min=61.6ms, max=61.6ms
+  scene_randomize: mean=2.6ms, total=46.5ms, count=18, min=1.3ms, max=7.1ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  asset_install_grasps: mean=40.5ms, total=40.5ms, count=1, min=40.5ms, max=40.5ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=15.0ms, total=15.0ms, count=1, min=15.0ms, max=15.0ms
+  mj_forward_sync: mean=491.3us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 17:48:13 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 17:48:13 INFO pipeline.py:1491] Success count: 11, Total count: 14
+[05/10 17:48:13 INFO pipeline.py:1492] Success rate: 78.57%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_004
+==========================================
diff --git a/fridge_7/chunk_004/shard_2_of_4.log b/fridge_7/chunk_004/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..c12c51061942b359f3d9d638e23814ef86708d20
--- /dev/null
+++ b/fridge_7/chunk_004/shard_2_of_4.log
@@ -0,0 +1,1750 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_004
+  shard=2/4  seed=20402  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:51:10 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 16:51:10 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 16:51:10 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_004'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 16:51:10 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d4337615f50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20402,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:51:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 16:51:10 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 16:51:10 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 137727641802832 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 137727641802832 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 137727641802832 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 137727641802832 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 137727646640080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 137727646640080 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 137727646646160 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 137727646646160 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 137727646646160 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 137727646646160 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 137727646640080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 137727646640080 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 137727642129808 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 137727642129808 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 137727642125776 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 137727642125776 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 137727642125776 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 137727642125776 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 137727642129808 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 137727642129808 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 16:51:11 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 570642080f80 at 0x7d4337b056d0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5706420aeb20 at 0x7d4337a29e50>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5706420aeb20 at 0x7d4337a90090>
+[05/10 16:51:14 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:51:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
+[05/10 16:51:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:51:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:51:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001928m
+[05/10 16:51:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:51:15 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 16:51:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09951756  1.22732743  0.00192841] yaw=-122.4deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82873466  0.48844664  0.00192841] yaw=-180.7deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.62746716  0.66705975  0.00192841] yaw=-174.1deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:51:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:51:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=34.9ms, retries=239.7ms, total=274.6ms
+[05/10 16:51:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.227, 0.002)
+[05/10 16:51:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -122.4 deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.959m
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:51:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:51:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 16:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 30.410s
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 16:51:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.843s, found feasible grasp: True
+[05/10 16:51:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.525[m] 90.416[deg]
+[05/10 16:51:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:51:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:51:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:52:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:52:58 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:53:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:53:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:53:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:53:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:53:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:53:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:54:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:54:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:54:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:54:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:54:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
+[05/10 16:54:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True
+[05/10 16:54:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.334[deg]
+[05/10 16:54:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:54:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:54:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:54:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:54:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:54:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:54:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 16:54:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:54:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:54:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/10 16:54:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.653s, found feasible grasp: True
+[05/10 16:54:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.837[deg]
+[05/10 16:54:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:55:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:55:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:55:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=False
+[05/10 16:55:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=False episode_total=4.83s:
+  episode_total: mean=234.20s, total=234.20s, count=1, min=234201.6ms, max=234201.6ms
+  sensor_polling: mean=531.0ms, total=159.31s, count=300, min=437.7ms, max=870.9ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.1ms, max=76.9ms
+  task_sampling: mean=4.83s, total=4.83s, count=1, min=4826.3ms, max=4826.3ms
+  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
+  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
+  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
+  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
+  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
+  task_specific_sample: mean=720.8ms, total=720.8ms, count=1, min=720.8ms, max=720.8ms
+  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
+  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=633.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:55:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:55:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:55:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:55:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:55:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:55:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:55:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:55:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:55:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:55:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:55:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 16:55:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:55:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:55:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082231m
+[05/10 16:55:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:55:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:55:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:55:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 154.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73835486  0.86721687  0.0822311 ] yaw=-148.1deg
+[05/10 16:55:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:55:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.68710551  0.47996575  0.0822311 ] yaw=183.9deg
+[05/10 16:55:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:55:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76231803  0.41368338  0.0822311 ] yaw=171.7deg
+[05/10 16:55:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:55:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:55:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.1ms, total=213.2ms
+[05/10 16:55:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.867, 0.082)
+[05/10 16:55:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg
+[05/10 16:55:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
+[05/10 16:55:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:55:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:55:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:55:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:55:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 16:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 16:55:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:55:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:55:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
+[05/10 16:55:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.665s, found feasible grasp: True
+[05/10 16:55:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.627[m] 93.227[deg]
+[05/10 16:55:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:55:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:56:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:56:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:57:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 16:58:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:58:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 16:58:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:58:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 16:58:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:58:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.25s (batch: 4.49s, save: 10.76s)
+[05/10 16:58:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=208.37s, total=208.37s, count=1, min=208374.6ms, max=208374.6ms
+  sensor_polling: mean=510.0ms, total=153.01s, count=300, min=431.3ms, max=1044.1ms
+  save_trajectories: mean=10.76s, total=10.76s, count=1, min=10760.9ms, max=10760.9ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=18.0ms, max=50.9ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.6ms, max=4487.6ms
+  task_sampling: mean=503.3ms, total=503.3ms, count=1, min=503.3ms, max=503.3ms
+  task_specific_sample: mean=500.6ms, total=500.6ms, count=1, min=500.6ms, max=500.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=448.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:58:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:58:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:58:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:58:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:58:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:58:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:58:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:58:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:58:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:58:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:58:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
+[05/10 16:58:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:58:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:58:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083007m
+[05/10 16:58:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:58:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:58:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:58:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 102.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:58:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:58:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84848726  0.82161066  0.08300728] yaw=-152.6deg
+[05/10 16:58:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:58:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:58:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:58:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.15559946  1.06861294  0.08300728] yaw=-127.0deg
+[05/10 16:58:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:58:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:58:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.7ms, total=221.7ms
+[05/10 16:58:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.822, 0.083)
+[05/10 16:58:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.6 deg
+[05/10 16:58:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m
+[05/10 16:58:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:58:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:58:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:58:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:58:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:58:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 16:58:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.153s
+[05/10 16:58:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:58:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:58:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 16:58:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.525s, found feasible grasp: True
+[05/10 16:58:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.483[m] 91.420[deg]
+[05/10 16:58:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:58:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:58:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:59:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:01:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:01:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:01:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:01:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:02:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:02:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:02:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.90s (batch: 5.43s, save: 11.47s)
+[05/10 17:02:09 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.60s:
+  episode_total: mean=212.28s, total=212.28s, count=1, min=212275.2ms, max=212275.2ms
+  sensor_polling: mean=520.8ms, total=156.23s, count=300, min=448.8ms, max=1145.0ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11469.8ms, max=11469.8ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.8ms, max=69.3ms
+  save_batch_prep: mean=5.43s, total=5.43s, count=1, min=5425.8ms, max=5425.8ms
+  task_sampling: mean=599.8ms, total=599.8ms, count=1, min=599.8ms, max=599.8ms
+  task_specific_sample: mean=595.5ms, total=595.5ms, count=1, min=595.5ms, max=595.5ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=506.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:02:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:02:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:02:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:02:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:02:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:02:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:02:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:02:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:02:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:02:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
+[05/10 17:02:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:02:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:02:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053818m
+[05/10 17:02:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:02:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:02:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:02:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94241542  0.87983669  0.0538176 ] yaw=-150.1deg
+[05/10 17:02:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:02:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:02:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8904729   0.14087094  0.0538176 ] yaw=167.1deg
+[05/10 17:02:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:02:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:02:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:02:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:02:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.3ms, total=225.3ms
+[05/10 17:02:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.880, 0.054)
+[05/10 17:02:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.1 deg
+[05/10 17:02:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.858m
+[05/10 17:02:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:02:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:02:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:02:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:02:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 17:02:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 17:02:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:02:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:02:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 17:02:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.713s, found feasible grasp: True
+[05/10 17:02:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.448[m] 95.759[deg]
+[05/10 17:02:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:04:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:05:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:05:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:05:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:05:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:05:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:05:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.92s (batch: 4.80s, save: 9.12s)
+[05/10 17:05:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.54s:
+  episode_total: mean=207.28s, total=207.28s, count=1, min=207282.7ms, max=207282.7ms
+  sensor_polling: mean=508.8ms, total=152.65s, count=300, min=441.5ms, max=838.0ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.5ms, max=9122.5ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=19.1ms, max=84.4ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4799.1ms, max=4799.1ms
+  task_sampling: mean=542.5ms, total=542.5ms, count=1, min=542.5ms, max=542.5ms
+  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=450.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:05:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:05:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:05:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:05:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:05:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:05:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:05:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:05:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:05:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:05:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:05:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
+[05/10 17:05:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:05:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:05:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008972m
+[05/10 17:05:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:05:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:05:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:05:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90480596  1.03917967  0.0089718 ] yaw=-138.1deg
+[05/10 17:05:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:05:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01161    0.7781696  0.0089718] yaw=-167.4deg
+[05/10 17:05:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:05:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:05:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:05:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9600325   0.61444584  0.0089718 ] yaw=-177.7deg
+[05/10 17:05:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:05:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:05:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=382.8ms, total=382.9ms
+[05/10 17:05:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.905, 1.039, 0.009)
+[05/10 17:05:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.1 deg
+[05/10 17:05:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.973m
+[05/10 17:05:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:05:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:05:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:05:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:05:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:05:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 17:05:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.140s
+[05/10 17:05:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:05:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:05:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps
+[05/10 17:05:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.483s, found feasible grasp: True
+[05/10 17:05:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.566[m] 86.854[deg]
+[05/10 17:05:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:06:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:07:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:07:06 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 17:07:06 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:07:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:07:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:07:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
+[05/10 17:07:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.427s, found feasible grasp: True
+[05/10 17:07:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.608[deg]
+[05/10 17:07:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:07:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:08:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:08:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:08:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:08:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:09:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:09:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:09:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.86s (batch: 4.42s, save: 12.44s)
+[05/10 17:09:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.71s:
+  episode_total: mean=212.84s, total=212.84s, count=1, min=212837.8ms, max=212837.8ms
+  sensor_polling: mean=516.1ms, total=154.83s, count=300, min=439.5ms, max=898.0ms
+  save_trajectories: mean=12.44s, total=12.44s, count=1, min=12441.8ms, max=12441.8ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=15.5ms, max=84.1ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.0ms, max=4420.0ms
+  task_sampling: mean=710.5ms, total=710.5ms, count=1, min=710.5ms, max=710.5ms
+  task_specific_sample: mean=706.1ms, total=706.1ms, count=1, min=706.1ms, max=706.1ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=531.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:09:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:09:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:09:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:09:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:09:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:09:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:09:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:09:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:09:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:09:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:09:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 17:09:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:09:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:09:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073791m
+[05/10 17:09:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:09:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:09:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 115.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:09:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:09:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95317775  0.19067686  0.07379116] yaw=148.8deg
+[05/10 17:09:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:09:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:09:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=417.0ms, total=417.0ms
+[05/10 17:09:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.191, 0.074)
+[05/10 17:09:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.8 deg
+[05/10 17:09:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m
+[05/10 17:09:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:09:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:09:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:09:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:09:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:09:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 17:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 17:09:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:09:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:09:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 17:09:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.559s, found feasible grasp: True
+[05/10 17:09:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.397[m] 90.986[deg]
+[05/10 17:09:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:09:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:09:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:10:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:10:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:10:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:10:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:11:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:11:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:11:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:11:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:11:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
+[05/10 17:11:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.466s, found feasible grasp: True
+[05/10 17:11:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.154[deg]
+[05/10 17:11:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:11:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:11:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:11:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:11:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:11:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:11:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:11:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:11:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:11:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:11:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:11:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/10 17:11:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:11:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:11:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032351m
+[05/10 17:11:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:11:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:11:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:11:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79958769  0.06933745  0.03235101] yaw=144.7deg
+[05/10 17:11:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:11:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:11:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:11:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81277666  0.64057686  0.03235101] yaw=-162.3deg
+[05/10 17:11:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:11:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:11:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87857134  1.07822462  0.03235101] yaw=-137.8deg
+[05/10 17:11:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:11:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:11:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.9ms
+[05/10 17:11:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.069, 0.032)
+[05/10 17:11:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 144.7 deg
+[05/10 17:11:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.993m
+[05/10 17:11:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:11:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:11:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:11:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:11:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:11:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 17:11:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 17:11:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:11:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:11:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 17:11:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.675s, found feasible grasp: True
+[05/10 17:11:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.565[m] 93.510[deg]
+[05/10 17:11:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:12:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:12:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:12:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:14:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:14:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:14:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:14:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:14:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:14:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:14:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.94s (batch: 4.30s, save: 10.64s)
+[05/10 17:14:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.16s:
+  episode_total: mean=164.63s, total=329.26s, count=2, min=114723.2ms, max=214541.5ms
+  sensor_polling: mean=529.0ms, total=256.06s, count=484, min=449.9ms, max=1065.2ms
+  physics_step: mean=26.0ms, total=12.59s, count=484, min=15.1ms, max=135.7ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10642.9ms, max=10642.9ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4297.9ms, max=4297.9ms
+  task_sampling: mean=582.5ms, total=1.16s, count=2, min=457.7ms, max=707.2ms
+  task_specific_sample: mean=577.0ms, total=1.15s, count=2, min=454.4ms, max=699.6ms
+  scene_randomize: mean=3.8ms, total=7.6ms, count=2, min=1.4ms, max=6.2ms
+  mj_forward_sync: mean=485.6us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=21.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 17:14:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:14:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:14:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:14:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:14:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:14:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:14:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:14:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:14:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:14:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:14:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
+[05/10 17:14:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:14:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:14:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070797m
+[05/10 17:14:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:14:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:14:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:14:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:14:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00525046  0.97234258  0.07079675] yaw=-144.6deg
+[05/10 17:14:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:14:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:14:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:14:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:14:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99264433  1.20963474  0.07079675] yaw=-139.8deg
+[05/10 17:14:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:14:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03464486  0.11978183  0.07079675] yaw=156.9deg
+[05/10 17:14:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:14:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:14:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=283.7ms, total=283.8ms
+[05/10 17:14:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.005, 0.972, 0.071)
+[05/10 17:14:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.6 deg
+[05/10 17:14:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.852m
+[05/10 17:14:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:14:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:14:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:14:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:14:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:14:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 17:14:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 17:14:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:14:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:14:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 17:14:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.602s, found feasible grasp: True
+[05/10 17:14:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.434[m] 96.084[deg]
+[05/10 17:14:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:14:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:15:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:15:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:17:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:18:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:18:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:18:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:18:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:18:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:18:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.51s (batch: 5.48s, save: 10.04s)
+[05/10 17:18:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.60s:
+  episode_total: mean=209.31s, total=209.31s, count=1, min=209314.8ms, max=209314.8ms
+  sensor_polling: mean=527.8ms, total=158.35s, count=300, min=437.6ms, max=1059.8ms
+  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10038.4ms, max=10038.4ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=15.3ms, max=90.8ms
+  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5475.4ms, max=5475.4ms
+  task_sampling: mean=596.7ms, total=596.7ms, count=1, min=596.7ms, max=596.7ms
+  task_specific_sample: mean=592.9ms, total=592.9ms, count=1, min=592.9ms, max=592.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=26.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:18:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:18:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:18:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:18:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:18:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:18:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:18:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:18:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:18:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:18:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:18:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 17:18:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:18:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:18:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027992m
+[05/10 17:18:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:18:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:18:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65187472  0.6505924   0.02799177] yaw=-173.9deg
+[05/10 17:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74310173  0.49157426  0.02799177] yaw=-180.6deg
+[05/10 17:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88676339  0.21933042  0.02799177] yaw=158.4deg
+[05/10 17:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:18:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:18:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.3ms, total=135.3ms
+[05/10 17:18:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.651, 0.028)
+[05/10 17:18:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.9 deg
+[05/10 17:18:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.064m
+[05/10 17:18:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:18:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:18:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:18:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:18:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:18:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 17:18:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/10 17:18:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:18:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:18:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 17:18:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.629s, found feasible grasp: True
+[05/10 17:18:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.628[m] 94.662[deg]
+[05/10 17:18:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:18:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:19:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:19:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:21:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:21:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:21:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:21:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:21:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:21:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:21:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.62s (batch: 4.24s, save: 9.38s)
+[05/10 17:21:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.43s:
+  episode_total: mean=207.66s, total=207.66s, count=1, min=207660.9ms, max=207660.9ms
+  sensor_polling: mean=516.9ms, total=155.07s, count=300, min=430.4ms, max=916.4ms
+  save_trajectories: mean=9.38s, total=9.38s, count=1, min=9382.7ms, max=9382.7ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=15.4ms, max=128.0ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.6ms, max=4239.6ms
+  task_sampling: mean=431.4ms, total=431.4ms, count=1, min=431.4ms, max=431.4ms
+  task_specific_sample: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:21:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:21:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:21:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:21:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:21:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:21:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:21:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:21:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:21:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:21:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:21:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
+[05/10 17:21:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:21:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:21:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007314m
+[05/10 17:21:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:21:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:21:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:21:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:21:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69288426  0.24179791  0.00731395] yaw=160.5deg
+[05/10 17:21:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:21:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:21:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87494512  1.13147006  0.00731395] yaw=-143.7deg
+[05/10 17:21:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:21:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:21:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87006284  0.71511875  0.00731395] yaw=-168.8deg
+[05/10 17:21:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:21:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:21:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.5ms, total=277.5ms
+[05/10 17:21:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.242, 0.007)
+[05/10 17:21:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.5 deg
+[05/10 17:21:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
+[05/10 17:21:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:21:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:21:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:21:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:21:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:21:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 17:21:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.197s
+[05/10 17:21:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:21:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:21:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.113s, found 88 non-colliding grasps
+[05/10 17:21:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.016s, found feasible grasp: True
+[05/10 17:21:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.614[m] 93.337[deg]
+[05/10 17:21:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:23:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:23:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:23:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:23:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:23:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:23:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:24:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:24:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:24:03 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:24:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:24:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:24:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:24:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
+[05/10 17:24:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.460s, found feasible grasp: True
+[05/10 17:24:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.298[deg]
+[05/10 17:24:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:24:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:24:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:24:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:24:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:24:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:24:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:24:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:25:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:25:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:25:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:25:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:25:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:25:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:25:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.04s (batch: 4.92s, save: 9.12s)
+[05/10 17:25:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.00s:
+  episode_total: mean=243.75s, total=243.75s, count=1, min=243749.0ms, max=243749.0ms
+  sensor_polling: mean=522.8ms, total=156.83s, count=300, min=452.6ms, max=831.9ms
+  save_trajectories: mean=9.12s, total=9.12s, count=1, min=9122.2ms, max=9122.2ms
+  physics_step: mean=25.7ms, total=7.71s, count=300, min=17.6ms, max=105.4ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4915.6ms, max=4915.6ms
+  task_sampling: mean=1.00s, total=1.00s, count=1, min=1004.2ms, max=1004.2ms
+  task_specific_sample: mean=999.5ms, total=999.5ms, count=1, min=999.5ms, max=999.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=611.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:25:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:25:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:25:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:25:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:25:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:25:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:25:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:25:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:25:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:25:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:25:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
+[05/10 17:25:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:25:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:25:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037019m
+[05/10 17:25:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:25:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:25:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:25:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:25:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71672516  0.17855958  0.03701894] yaw=165.8deg
+[05/10 17:25:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:25:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.10541327  1.22030768  0.03701894] yaw=-132.7deg
+[05/10 17:25:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:25:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01018772  1.31002052  0.03701894] yaw=-124.2deg
+[05/10 17:25:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:25:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:25:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms
+[05/10 17:25:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.717, 0.179, 0.037)
+[05/10 17:25:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg
+[05/10 17:25:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
+[05/10 17:25:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:25:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:25:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:25:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:25:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:25:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 17:25:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 17:25:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:25:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:25:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 17:25:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True
+[05/10 17:25:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.601[m] 95.352[deg]
+[05/10 17:25:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:25:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:25:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:27:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:27:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:27:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:28:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:29:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:29:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:29:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:29:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:29:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:29:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.78s (batch: 5.08s, save: 9.70s)
+[05/10 17:29:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
+  episode_total: mean=214.17s, total=214.17s, count=1, min=214173.3ms, max=214173.3ms
+  sensor_polling: mean=511.9ms, total=153.57s, count=300, min=448.0ms, max=797.3ms
+  save_trajectories: mean=9.70s, total=9.70s, count=1, min=9696.6ms, max=9696.6ms
+  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.2ms, max=60.5ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5081.5ms, max=5081.5ms
+  task_sampling: mean=441.1ms, total=441.1ms, count=1, min=441.1ms, max=441.1ms
+  task_specific_sample: mean=436.1ms, total=436.1ms, count=1, min=436.1ms, max=436.1ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=596.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:29:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:29:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:29:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:29:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:29:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:29:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:29:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:29:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:29:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:29:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:29:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
+[05/10 17:29:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:29:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:29:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091079m
+[05/10 17:29:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:29:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:29:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:29:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:29:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7509442   0.7270803   0.09107921] yaw=-168.2deg
+[05/10 17:29:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:29:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09583779  1.01782562  0.09107921] yaw=-144.8deg
+[05/10 17:29:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:29:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:29:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:29:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.64094598  0.4436323   0.09107921] yaw=167.7deg
+[05/10 17:29:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:29:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:29:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=317.9ms, total=317.9ms
+[05/10 17:29:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.727, 0.091)
+[05/10 17:29:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg
+[05/10 17:29:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.982m
+[05/10 17:29:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:29:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:29:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:29:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:29:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 17:29:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 17:29:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:29:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:29:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
+[05/10 17:29:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True
+[05/10 17:29:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.541[m] 83.747[deg]
+[05/10 17:29:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:29:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:29:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:30:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:30:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:30:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:32:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:32:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:32:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:32:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:33:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:33:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:33:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.87s (batch: 4.37s, save: 10.50s)
+[05/10 17:33:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.63s:
+  episode_total: mean=212.03s, total=212.03s, count=1, min=212027.3ms, max=212027.3ms
+  sensor_polling: mean=513.7ms, total=154.11s, count=300, min=444.9ms, max=1019.7ms
+  save_trajectories: mean=10.50s, total=10.50s, count=1, min=10500.8ms, max=10500.8ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=16.0ms, max=106.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.8ms, max=4366.8ms
+  task_sampling: mean=626.0ms, total=626.0ms, count=1, min=626.0ms, max=626.0ms
+  task_specific_sample: mean=622.4ms, total=622.4ms, count=1, min=622.4ms, max=622.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=389.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:33:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:33:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:33:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:33:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:33:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:33:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:33:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:33:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:33:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:33:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:33:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
+[05/10 17:33:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:33:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:33:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080632m
+[05/10 17:33:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:33:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:33:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:33:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04181356  1.06795503  0.08063241] yaw=-149.2deg
+[05/10 17:33:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:33:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78783006  0.37283871  0.08063241] yaw=167.5deg
+[05/10 17:33:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:33:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08996294  0.92576279  0.08063241] yaw=-132.6deg
+[05/10 17:33:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:33:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:33:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.1ms, total=110.1ms
+[05/10 17:33:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.068, 0.081)
+[05/10 17:33:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.2 deg
+[05/10 17:33:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.883m
+[05/10 17:33:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:33:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:33:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:33:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:33:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:33:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 17:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 17:33:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:33:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:33:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 17:33:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.843s, found feasible grasp: True
+[05/10 17:33:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.478[m] 86.133[deg]
+[05/10 17:33:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:33:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:34:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:35:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:35:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:35:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:35:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:35:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:35:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:35:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:35:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:35:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:35:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps
+[05/10 17:35:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.665s, found feasible grasp: True
+[05/10 17:35:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.292[deg]
+[05/10 17:35:59 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:36:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:36:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:36:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:36:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:36:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:36:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:36:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:36:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:36:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:36:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:36:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
+[05/10 17:36:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:36:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:36:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084168m
+[05/10 17:36:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:36:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:36:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74264052  0.66169076  0.08416833] yaw=-177.1deg
+[05/10 17:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.0231657   0.11188859  0.08416833] yaw=140.5deg
+[05/10 17:36:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:36:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:36:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=272.9ms, total=272.9ms
+[05/10 17:36:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.662, 0.084)
+[05/10 17:36:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.1 deg
+[05/10 17:36:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
+[05/10 17:36:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:36:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:36:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:36:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:36:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:36:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 17:36:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/10 17:36:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:36:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:36:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 17:36:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.618s, found feasible grasp: True
+[05/10 17:36:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.595[m] 102.653[deg]
+[05/10 17:36:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:36:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:37:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:37:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:38:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:39:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:39:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:39:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:39:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:39:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:39:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.42s (batch: 4.66s, save: 9.76s)
+[05/10 17:39:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.97s:
+  episode_total: mean=191.09s, total=382.17s, count=2, min=176121.7ms, max=206050.6ms
+  sensor_polling: mean=510.5ms, total=296.61s, count=581, min=426.2ms, max=989.0ms
+  physics_step: mean=24.9ms, total=14.48s, count=581, min=16.2ms, max=98.8ms
+  save_trajectories: mean=9.76s, total=9.76s, count=1, min=9763.5ms, max=9763.5ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4659.4ms, max=4659.4ms
+  task_sampling: mean=485.0ms, total=970.1ms, count=2, min=430.6ms, max=539.5ms
+  task_specific_sample: mean=481.5ms, total=963.0ms, count=2, min=426.7ms, max=536.3ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=427.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 17:39:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:39:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:39:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:39:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:39:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:39:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:39:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:39:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:39:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:39:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:39:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/10 17:39:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:39:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:39:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022779m
+[05/10 17:39:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:39:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:39:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95125534  1.00602707  0.02277898] yaw=-141.2deg
+[05/10 17:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:39:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01935284  1.18761965  0.02277898] yaw=-144.9deg
+[05/10 17:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:39:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85745569  1.02470961  0.02277898] yaw=-139.7deg
+[05/10 17:39:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:39:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:39:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.0ms, total=286.1ms
+[05/10 17:39:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.951, 1.006, 0.023)
+[05/10 17:39:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.2 deg
+[05/10 17:39:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.916m
+[05/10 17:39:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:39:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:39:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:39:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:39:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:39:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 17:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.142s
+[05/10 17:39:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:39:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:39:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 17:39:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.528s, found feasible grasp: True
+[05/10 17:39:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.521[m] 91.669[deg]
+[05/10 17:39:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:40:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:40:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:42:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:42:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:42:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:42:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:42:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:42:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:42:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.18s (batch: 4.10s, save: 11.09s)
+[05/10 17:42:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.61s:
+  episode_total: mean=207.43s, total=207.43s, count=1, min=207425.6ms, max=207425.6ms
+  sensor_polling: mean=495.5ms, total=148.66s, count=300, min=426.5ms, max=1033.6ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11085.6ms, max=11085.6ms
+  physics_step: mean=24.4ms, total=7.31s, count=300, min=15.4ms, max=119.6ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.5ms, max=4096.5ms
+  task_sampling: mean=606.1ms, total=606.1ms, count=1, min=606.1ms, max=606.1ms
+  task_specific_sample: mean=601.6ms, total=601.6ms, count=1, min=601.6ms, max=601.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=537.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:42:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:42:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:42:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:42:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:42:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:42:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:42:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:42:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:42:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:42:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 17:42:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:42:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:42:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015870m
+[05/10 17:42:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:42:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:42:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:42:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:42:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:42:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94581488  0.16438712  0.01587004] yaw=161.9deg
+[05/10 17:42:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:42:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78884937  0.43339334  0.01587004] yaw=175.8deg
+[05/10 17:42:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:42:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94734098  0.275493    0.01587004] yaw=173.6deg
+[05/10 17:42:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:42:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:42:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.6ms, total=101.6ms
+[05/10 17:42:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 0.164, 0.016)
+[05/10 17:42:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.9 deg
+[05/10 17:42:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.820m
+[05/10 17:42:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:42:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:42:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:42:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:42:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 17:42:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 17:42:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:42:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:42:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 17:42:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True
+[05/10 17:42:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.368[m] 84.831[deg]
+[05/10 17:42:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:43:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:43:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:43:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:44:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:44:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:44:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:44:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:44:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:44:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:44:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
+[05/10 17:44:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.415s, found feasible grasp: True
+[05/10 17:44:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.554[deg]
+[05/10 17:44:49 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:44:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:44:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:44:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:44:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:44:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:44:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:44:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:44:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:44:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:44:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:44:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
+[05/10 17:44:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:44:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:44:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003239m
+[05/10 17:44:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:44:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:44:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:44:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:44:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:44:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74844951  0.19096303  0.00323913] yaw=169.6deg
+[05/10 17:44:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:44:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82809614  0.07729581  0.00323913] yaw=164.9deg
+[05/10 17:44:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:44:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:44:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87107734  0.06647943  0.00323913] yaw=149.8deg
+[05/10 17:44:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:44:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:44:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.7ms
+[05/10 17:44:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.191, 0.003)
+[05/10 17:44:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg
+[05/10 17:44:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.997m
+[05/10 17:44:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:44:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:44:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:44:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:44:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:44:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 17:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.107s
+[05/10 17:44:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:44:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:44:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 17:44:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.131s, found feasible grasp: True
+[05/10 17:44:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.533[m] 87.300[deg]
+[05/10 17:44:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:44:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:45:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:46:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:47:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:47:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:47:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:47:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:48:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:48:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:48:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.15s (batch: 4.24s, save: 7.91s)
+[05/10 17:48:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.90s:
+  episode_total: mean=153.87s, total=307.75s, count=2, min=110752.6ms, max=196996.6ms
+  sensor_polling: mean=494.2ms, total=240.20s, count=486, min=437.2ms, max=1065.0ms
+  physics_step: mean=24.5ms, total=11.91s, count=486, min=15.3ms, max=72.5ms
+  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7909.1ms, max=7909.1ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4242.7ms, max=4242.7ms
+  task_sampling: mean=448.4ms, total=896.7ms, count=2, min=437.4ms, max=459.4ms
+  task_specific_sample: mean=443.4ms, total=886.9ms, count=2, min=433.7ms, max=453.2ms
+  scene_randomize: mean=2.4ms, total=4.9ms, count=2, min=2.4ms, max=2.5ms
+  mj_forward_sync: mean=489.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 17:48:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:48:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:48:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:48:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:48:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:48:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:48:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:48:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:48:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:48:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:48:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
+[05/10 17:48:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:48:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:48:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094005m
+[05/10 17:48:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:48:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:48:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:48:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67645912  0.67906522  0.09400473] yaw=-159.0deg
+[05/10 17:48:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:48:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:48:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.0ms, total=253.1ms
+[05/10 17:48:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.676, 0.679, 0.094)
+[05/10 17:48:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg
+[05/10 17:48:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m
+[05/10 17:48:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:48:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:48:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:48:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:48:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:48:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 17:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 17:48:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:48:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:48:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 17:48:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.108s, found feasible grasp: True
+[05/10 17:48:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.618[m] 93.699[deg]
+[05/10 17:48:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:48:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:48:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:49:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:49:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:49:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:50:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:50:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:50:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 2/4: 1 episodes
+[05/10 17:50:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:51:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:51:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:51:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.14s (batch: 4.14s, save: 8.00s)
+[05/10 17:51:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.59s:
+  episode_total: mean=181.36s, total=181.36s, count=1, min=181359.8ms, max=181359.8ms
+  sensor_polling: mean=453.3ms, total=135.98s, count=300, min=429.2ms, max=704.1ms
+  save_trajectories: mean=8.00s, total=8.00s, count=1, min=8000.9ms, max=8000.9ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=15.3ms, max=31.1ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.2ms, max=4138.2ms
+  task_sampling: mean=588.0ms, total=588.0ms, count=1, min=588.0ms, max=588.0ms
+  task_specific_sample: mean=584.2ms, total=584.2ms, count=1, min=584.2ms, max=584.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=416.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:51:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
+[05/10 17:51:12 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
+[05/10 17:51:12 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/15 successful episodes
+[05/10 17:51:12 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=6569.09s
+  House averages:
+  episode_total: mean=198.33s, total=3569.87s, count=18, min=110752.6ms, max=243749.0ms
+  sensor_polling: mean=510.9ms, total=2631.46s, count=5151, min=426.2ms, max=1145.0ms
+  save_trajectories: mean=10.00s, total=139.94s, count=14, min=7909.1ms, max=12441.8ms
+  physics_step: mean=24.9ms, total=128.29s, count=5151, min=15.1ms, max=135.7ms
+  save_batch_prep: mean=4.62s, total=64.65s, count=14, min=4096.5ms, max=5475.4ms
+  task_sampling: mean=806.0ms, total=14.51s, count=18, min=430.6ms, max=4826.3ms
+  task_specific_sample: mean=573.9ms, total=10.33s, count=18, min=426.7ms, max=999.5ms
+  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
+  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
+  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
+  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
+  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
+  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
+  scene_randomize: mean=2.6ms, total=46.6ms, count=18, min=1.3ms, max=6.2ms
+  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=493.8us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 17:51:12 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 17:51:12 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6569.09s
+  Worker averages:
+  episode_total: mean=198.33s, total=3569.87s, count=18, min=110752.6ms, max=243749.0ms
+  sensor_polling: mean=510.9ms, total=2631.46s, count=5151, min=426.2ms, max=1145.0ms
+  save_trajectories: mean=10.00s, total=139.94s, count=14, min=7909.1ms, max=12441.8ms
+  physics_step: mean=24.9ms, total=128.29s, count=5151, min=15.1ms, max=135.7ms
+  save_batch_prep: mean=4.62s, total=64.65s, count=14, min=4096.5ms, max=5475.4ms
+  task_sampling: mean=806.0ms, total=14.51s, count=18, min=430.6ms, max=4826.3ms
+  task_specific_sample: mean=573.9ms, total=10.33s, count=18, min=426.7ms, max=999.5ms
+  scene_load: mean=4.10s, total=4.10s, count=1, min=4101.9ms, max=4101.9ms
+  scene_env_create: mean=2.21s, total=2.21s, count=1, min=2213.1ms, max=2213.1ms
+  scene_compile: mean=1.71s, total=1.71s, count=1, min=1709.3ms, max=1709.3ms
+  compile_mujoco: mean=834.6ms, total=834.6ms, count=1, min=834.6ms, max=834.6ms
+  compile_xml_load: mean=786.7ms, total=786.7ms, count=1, min=786.7ms, max=786.7ms
+  scene_init: mean=137.0ms, total=137.0ms, count=1, min=137.0ms, max=137.0ms
+  scene_randomize: mean=2.6ms, total=46.6ms, count=18, min=1.3ms, max=6.2ms
+  compile_aux_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  compile_aux_policy_objects: mean=44.6ms, total=44.6ms, count=1, min=44.6ms, max=44.6ms
+  scene_asset_install: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_robot_add: mean=31.8ms, total=31.8ms, count=1, min=31.8ms, max=31.8ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  mj_forward_sync: mean=493.8us, total=8.9ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 17:51:15 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 17:51:15 INFO pipeline.py:1491] Success count: 14, Total count: 15
+[05/10 17:51:15 INFO pipeline.py:1492] Success rate: 93.33%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_004
+==========================================
diff --git a/fridge_7/chunk_004/shard_3_of_4.log b/fridge_7/chunk_004/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..d084d7a60f004c948d4975e7bafeb929c5926395
--- /dev/null
+++ b/fridge_7/chunk_004/shard_3_of_4.log
@@ -0,0 +1,1605 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_004
+  shard=3/4  seed=20403  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:51:11 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 16:51:11 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 16:51:11 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_004'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 16:51:11 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x765f86c78a90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20403,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:51:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 16:51:11 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 16:51:11 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 130152651945872 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130152651945872 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 130152651945872 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130152651945872 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 130152653798096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130152653798096 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130152653797840 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130152653797840 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130152653797840 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130152653797840 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130152653798096 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130152653798096 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130152652087952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130152652087952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130152652080272 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130152652080272 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 130152652080272 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130152652080272 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130152652087952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130152652087952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 16:51:12 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c87976e0d80 at 0x765f8703eb90>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c879770e920 at 0x765f8704a850>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c879770e920 at 0x765f86fd1090>
+[05/10 16:51:15 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 16:51:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:51:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:51:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 16:51:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:51:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:51:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030327m
+[05/10 16:51:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:51:15 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 16:51:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 104.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74683193  0.43514448  0.03032691] yaw=184.4deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:51:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:51:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=16.5ms, retries=374.4ms, total=390.8ms
+[05/10 16:51:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.435, 0.030)
+[05/10 16:51:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 184.4 deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.957m
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:51:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:51:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 16:51:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.987s
+[05/10 16:51:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:51:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:51:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.611s, found feasible grasp: True
+[05/10 16:51:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.511[m] 85.380[deg]
+[05/10 16:51:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:51:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:51:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:52:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:52:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:53:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:54:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 16:54:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:54:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 16:54:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:55:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 16:55:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:55:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.23s (batch: 4.10s, save: 10.12s)
+[05/10 16:55:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.91s:
+  episode_total: mean=242.78s, total=242.78s, count=1, min=242778.1ms, max=242778.1ms
+  sensor_polling: mean=525.7ms, total=157.71s, count=300, min=453.6ms, max=1035.2ms
+  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10120.9ms, max=10120.9ms
+  physics_step: mean=25.6ms, total=7.67s, count=300, min=18.8ms, max=112.1ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.5ms, max=4104.5ms
+  task_sampling: mean=3.91s, total=3.91s, count=1, min=3906.0ms, max=3906.0ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
+  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
+  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
+  task_specific_sample: mean=667.9ms, total=667.9ms, count=1, min=667.9ms, max=667.9ms
+  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
+  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
+  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
+  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
+  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=659.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:55:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:55:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:55:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:55:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:55:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:55:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:55:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:55:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:55:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:55:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:55:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
+[05/10 16:55:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:55:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:55:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006195m
+[05/10 16:55:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:55:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:55:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:55:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20249215  1.07275601  0.00619499] yaw=-136.2deg
+[05/10 16:55:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:55:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9363735   0.65799917  0.00619499] yaw=-163.3deg
+[05/10 16:55:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:55:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92782883  0.59133679  0.00619499] yaw=-166.0deg
+[05/10 16:55:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:55:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:55:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=275.4ms, total=275.4ms
+[05/10 16:55:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.202, 1.073, 0.006)
+[05/10 16:55:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.2 deg
+[05/10 16:55:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
+[05/10 16:55:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:55:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:55:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:55:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:55:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:55:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 16:55:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
+[05/10 16:55:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:55:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:55:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
+[05/10 16:55:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.655s, found feasible grasp: True
+[05/10 16:55:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.395[m] 94.277[deg]
+[05/10 16:55:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:56:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:56:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 16:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 16:57:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 16:57:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 16:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 16:57:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 16:57:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 16:57:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 16:57:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 16:57:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 16:57:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:57:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:57:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps
+[05/10 16:57:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.654s, found feasible grasp: True
+[05/10 16:57:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.243[deg]
+[05/10 16:57:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 16:57:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:57:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:57:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:57:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:57:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:57:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:57:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:57:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:57:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:57:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:57:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
+[05/10 16:57:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:57:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:57:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026620m
+[05/10 16:57:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:57:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:57:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:57:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84859588  0.03161113  0.02662041] yaw=148.3deg
+[05/10 16:57:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:57:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:57:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86885973  1.0917148   0.02662041] yaw=-153.2deg
+[05/10 16:57:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:57:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.91098581  1.07170173  0.02662041] yaw=-138.0deg
+[05/10 16:57:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:57:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:57:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.8ms, total=105.8ms
+[05/10 16:57:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.849, 0.032, 0.027)
+[05/10 16:57:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 148.3 deg
+[05/10 16:57:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.965m
+[05/10 16:57:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:57:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:57:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:57:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:57:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:57:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 16:57:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 16:57:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:57:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:57:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 16:57:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.286s, found feasible grasp: True
+[05/10 16:57:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.505[m] 88.247[deg]
+[05/10 16:57:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:57:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:57:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:58:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:59:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:59:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:00:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:01:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:01:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:01:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:01:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:01:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:01:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.20s (batch: 4.33s, save: 8.87s)
+[05/10 17:01:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.95s:
+  episode_total: mean=181.96s, total=363.92s, count=2, min=153396.0ms, max=210519.2ms
+  sensor_polling: mean=520.7ms, total=286.40s, count=550, min=445.8ms, max=991.5ms
+  physics_step: mean=26.2ms, total=14.41s, count=550, min=16.8ms, max=133.1ms
+  save_trajectories: mean=8.87s, total=8.87s, count=1, min=8869.9ms, max=8869.9ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4329.1ms, max=4329.1ms
+  task_sampling: mean=473.4ms, total=946.8ms, count=2, min=366.9ms, max=579.9ms
+  task_specific_sample: mean=469.6ms, total=939.2ms, count=2, min=363.8ms, max=575.4ms
+  scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=477.9us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 17:01:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:01:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:01:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:01:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:01:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:01:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:01:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:01:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:01:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:01:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 17:01:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:01:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:01:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039501m
+[05/10 17:01:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:01:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:01:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:01:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:01:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88894448  0.38690584  0.03950129] yaw=172.8deg
+[05/10 17:01:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:01:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74492887  0.16415057  0.03950129] yaw=166.9deg
+[05/10 17:01:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:01:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:01:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:01:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79208385  0.79436864  0.03950129] yaw=-164.9deg
+[05/10 17:01:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:01:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:01:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms
+[05/10 17:01:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.889, 0.387, 0.040)
+[05/10 17:01:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.8 deg
+[05/10 17:01:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
+[05/10 17:01:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:01:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:01:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:01:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:01:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 17:01:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.292s
+[05/10 17:01:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:01:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:01:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 17:01:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.156s, found feasible grasp: True
+[05/10 17:01:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.366[m] 88.727[deg]
+[05/10 17:01:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:01:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:01:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:02:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:02:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:04:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:04:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:04:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:04:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 295 timesteps
+[05/10 17:04:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:04:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:04:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.83s (batch: 4.26s, save: 10.57s)
+[05/10 17:04:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.60s:
+  episode_total: mean=207.41s, total=207.41s, count=1, min=207409.9ms, max=207409.9ms
+  sensor_polling: mean=530.6ms, total=155.99s, count=294, min=453.3ms, max=918.9ms
+  save_trajectories: mean=10.57s, total=10.57s, count=1, min=10569.5ms, max=10569.5ms
+  physics_step: mean=28.8ms, total=8.47s, count=294, min=19.0ms, max=124.6ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4262.5ms, max=4262.5ms
+  task_sampling: mean=596.5ms, total=596.5ms, count=1, min=596.5ms, max=596.5ms
+  task_specific_sample: mean=591.7ms, total=591.7ms, count=1, min=591.7ms, max=591.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=581.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=29.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:04:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:04:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:04:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:04:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:04:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:04:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:04:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:04:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:04:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:04:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:04:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 17:04:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:04:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:04:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060965m
+[05/10 17:04:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:04:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:04:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:04:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93480186  1.20481256  0.06096538] yaw=-127.2deg
+[05/10 17:04:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:04:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99876952  0.82859853  0.06096538] yaw=-157.8deg
+[05/10 17:04:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:04:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79636018  0.11733088  0.06096538] yaw=160.2deg
+[05/10 17:04:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:04:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:04:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.3ms, total=94.3ms
+[05/10 17:04:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.935, 1.205, 0.061)
+[05/10 17:04:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg
+[05/10 17:04:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.054m
+[05/10 17:04:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:04:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:04:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:04:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:04:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:04:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 17:04:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 17:04:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:04:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:04:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 17:04:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.743s, found feasible grasp: True
+[05/10 17:04:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.659[m] 86.927[deg]
+[05/10 17:04:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:04:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:04:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:04:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:04:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:04:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:04:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:04:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:04:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:04:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:04:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:04:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 17:04:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:04:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:04:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078392m
+[05/10 17:04:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:04:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:04:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:04:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9571973   1.27753501  0.07839204] yaw=-134.5deg
+[05/10 17:04:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:04:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:04:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:04:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=289.7ms, total=289.8ms
+[05/10 17:04:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.957, 1.278, 0.078)
+[05/10 17:04:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg
+[05/10 17:04:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.090m
+[05/10 17:04:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:04:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:04:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:04:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:05:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:05:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 17:05:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
+[05/10 17:05:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:05:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:05:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 17:05:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.666s, found feasible grasp: False
+[05/10 17:05:01 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 17:05:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:05:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:05:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:05:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:05:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:05:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:05:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:05:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:05:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:05:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:05:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 17:05:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:05:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:05:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011764m
+[05/10 17:05:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:05:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:05:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:05:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:05:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89318162  0.32549141  0.01176414] yaw=171.4deg
+[05/10 17:05:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:05:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9791416   0.14360797  0.01176414] yaw=146.6deg
+[05/10 17:05:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:05:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:05:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:05:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:05:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.5ms, total=365.5ms
+[05/10 17:05:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.325, 0.012)
+[05/10 17:05:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.4 deg
+[05/10 17:05:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
+[05/10 17:05:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:05:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:05:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:05:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:05:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:05:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 17:05:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
+[05/10 17:05:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:05:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:05:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 17:05:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.467s, found feasible grasp: True
+[05/10 17:05:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.374[m] 90.207[deg]
+[05/10 17:05:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:05:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:07:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:07:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:07:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:07:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:07:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:07:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:07:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:07:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:07:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:07:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
+[05/10 17:07:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.389s, found feasible grasp: True
+[05/10 17:07:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.568[deg]
+[05/10 17:07:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:07:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:07:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:08:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:08:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:08:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:08:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:08:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:08:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:08:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.00s (batch: 4.55s, save: 9.45s)
+[05/10 17:08:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.68s:
+  episode_total: mean=77.15s, total=231.44s, count=3, min=2341.0ms, max=225636.8ms
+  sensor_polling: mean=530.4ms, total=159.12s, count=300, min=449.8ms, max=949.3ms
+  save_trajectories: mean=9.45s, total=9.45s, count=1, min=9445.6ms, max=9445.6ms
+  physics_step: mean=26.4ms, total=7.92s, count=300, min=14.8ms, max=65.1ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4550.3ms, max=4550.3ms
+  task_sampling: mean=558.9ms, total=1.68s, count=3, min=452.2ms, max=651.5ms
+  task_specific_sample: mean=555.6ms, total=1.67s, count=3, min=448.2ms, max=649.0ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=505.3us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 17:08:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:08:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:08:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:08:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:08:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:08:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:08:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:08:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:08:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:08:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:08:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 17:08:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:08:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:08:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030724m
+[05/10 17:08:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:08:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:08:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:08:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:08:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95330517  0.96988563  0.03072429] yaw=-143.7deg
+[05/10 17:08:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:08:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88364195  0.63828674  0.03072429] yaw=-175.6deg
+[05/10 17:08:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:08:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:08:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:08:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82640332  0.31193072  0.03072429] yaw=162.0deg
+[05/10 17:08:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:08:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:08:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.3ms, total=176.4ms
+[05/10 17:08:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.953, 0.970, 0.031)
+[05/10 17:08:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg
+[05/10 17:08:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.894m
+[05/10 17:08:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:08:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:08:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:08:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:08:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:08:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 17:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.106s
+[05/10 17:08:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:08:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:08:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 17:08:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.667s, found feasible grasp: True
+[05/10 17:08:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.476[m] 92.430[deg]
+[05/10 17:08:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:09:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:09:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:10:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:11:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:12:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:12:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:12:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:12:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:12:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:12:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.14s (batch: 4.31s, save: 9.83s)
+[05/10 17:12:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.45s:
+  episode_total: mean=207.38s, total=207.38s, count=1, min=207383.5ms, max=207383.5ms
+  sensor_polling: mean=507.5ms, total=152.24s, count=300, min=436.5ms, max=1005.5ms
+  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9833.5ms, max=9833.5ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=16.1ms, max=104.0ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4306.7ms, max=4306.7ms
+  task_sampling: mean=449.3ms, total=449.3ms, count=1, min=449.3ms, max=449.3ms
+  task_specific_sample: mean=444.4ms, total=444.4ms, count=1, min=444.4ms, max=444.4ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=588.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:12:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:12:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:12:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:12:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:12:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:12:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:12:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:12:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:12:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:12:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:12:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/10 17:12:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:12:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:12:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032475m
+[05/10 17:12:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:12:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:12:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:12:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:12:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:12:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75008473  0.82655655  0.03247539] yaw=-152.4deg
+[05/10 17:12:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:12:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86441818  0.72024857  0.03247539] yaw=-170.9deg
+[05/10 17:12:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:12:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76607369  0.30367906  0.03247539] yaw=164.2deg
+[05/10 17:12:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:12:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:12:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.5ms, total=140.5ms
+[05/10 17:12:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.827, 0.032)
+[05/10 17:12:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg
+[05/10 17:12:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.013m
+[05/10 17:12:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:12:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:12:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:12:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:12:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:12:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 17:12:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.108s
+[05/10 17:12:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:12:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:12:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 17:12:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.240s, found feasible grasp: True
+[05/10 17:12:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.568[m] 86.309[deg]
+[05/10 17:12:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:13:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:13:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:15:10 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:15:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:15:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:15:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:15:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:15:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:15:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.24s (batch: 4.52s, save: 11.73s)
+[05/10 17:15:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
+  episode_total: mean=213.15s, total=213.15s, count=1, min=213155.0ms, max=213155.0ms
+  sensor_polling: mean=516.7ms, total=155.00s, count=300, min=447.2ms, max=912.6ms
+  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11725.5ms, max=11725.5ms
+  physics_step: mean=24.9ms, total=7.46s, count=300, min=18.6ms, max=107.0ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4519.4ms, max=4519.4ms
+  task_sampling: mean=494.8ms, total=494.8ms, count=1, min=494.8ms, max=494.8ms
+  task_specific_sample: mean=489.6ms, total=489.6ms, count=1, min=489.6ms, max=489.6ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=620.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:15:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:15:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:15:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:15:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:15:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:15:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:15:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:15:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
+[05/10 17:15:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:15:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:15:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063799m
+[05/10 17:15:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:15:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:15:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95007769  0.98069745  0.06379923] yaw=-155.1deg
+[05/10 17:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72498197  0.66252279  0.06379923] yaw=-168.1deg
+[05/10 17:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:15:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 102.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:15:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.78593238  0.26071855  0.06379923] yaw=163.2deg
+[05/10 17:15:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:15:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:15:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.2ms, total=309.3ms
+[05/10 17:15:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.950, 0.981, 0.064)
+[05/10 17:15:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.1 deg
+[05/10 17:15:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.903m
+[05/10 17:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:15:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:15:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:15:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 17:15:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.118s
+[05/10 17:15:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:15:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:15:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/10 17:15:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True
+[05/10 17:15:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.499[m] 95.664[deg]
+[05/10 17:15:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:15:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:16:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:17:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:18:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:19:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:19:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:19:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:19:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:19:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:19:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.66s (batch: 5.01s, save: 10.65s)
+[05/10 17:19:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.61s:
+  episode_total: mean=208.60s, total=208.60s, count=1, min=208602.2ms, max=208602.2ms
+  sensor_polling: mean=518.3ms, total=155.49s, count=300, min=443.0ms, max=876.4ms
+  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10649.9ms, max=10649.9ms
+  physics_step: mean=25.6ms, total=7.67s, count=300, min=18.2ms, max=131.8ms
+  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5008.3ms, max=5008.3ms
+  task_sampling: mean=609.4ms, total=609.4ms, count=1, min=609.4ms, max=609.4ms
+  task_specific_sample: mean=604.4ms, total=604.4ms, count=1, min=604.4ms, max=604.4ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=639.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:19:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:19:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:19:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:19:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:19:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:19:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:19:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:19:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:19:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:19:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
+[05/10 17:19:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:19:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:19:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060089m
+[05/10 17:19:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:19:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:19:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90261797  0.94685028  0.06008931] yaw=-154.1deg
+[05/10 17:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:19:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82228877  1.12341694  0.06008931] yaw=-132.9deg
+[05/10 17:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:19:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.98472537  1.13822196  0.06008931] yaw=-141.7deg
+[05/10 17:19:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:19:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:19:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.1ms
+[05/10 17:19:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.903, 0.947, 0.060)
+[05/10 17:19:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg
+[05/10 17:19:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.925m
+[05/10 17:19:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:19:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:19:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:19:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:19:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 17:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/10 17:19:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:19:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:19:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 17:19:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.734s, found feasible grasp: True
+[05/10 17:19:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.498[m] 87.764[deg]
+[05/10 17:19:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:20:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:20:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:22:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:22:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:22:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:22:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:22:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:22:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:22:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.46s (batch: 4.15s, save: 9.31s)
+[05/10 17:22:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=206.34s, total=206.34s, count=1, min=206341.1ms, max=206341.1ms
+  sensor_polling: mean=509.8ms, total=152.93s, count=300, min=437.4ms, max=992.7ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9307.1ms, max=9307.1ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=15.8ms, max=90.2ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4151.4ms, max=4151.4ms
+  task_sampling: mean=494.3ms, total=494.3ms, count=1, min=494.3ms, max=494.3ms
+  task_specific_sample: mean=490.4ms, total=490.4ms, count=1, min=490.4ms, max=490.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=470.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:22:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:22:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:22:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:22:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:22:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:22:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:22:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:22:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:22:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:22:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:22:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 17:22:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:22:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:22:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039504m
+[05/10 17:22:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:22:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:22:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:22:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.63905087  0.42319579  0.03950405] yaw=170.0deg
+[05/10 17:22:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:22:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90225319  0.96839777  0.03950405] yaw=-139.3deg
+[05/10 17:22:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:22:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:22:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:22:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:22:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.09221555  1.1553269   0.03950405] yaw=-134.1deg
+[05/10 17:22:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:22:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:22:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=323.5ms, total=323.5ms
+[05/10 17:22:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.639, 0.423, 0.040)
+[05/10 17:22:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.0 deg
+[05/10 17:22:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.065m
+[05/10 17:22:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:22:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:22:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:22:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:22:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:22:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 17:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.137s
+[05/10 17:22:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:22:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:22:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
+[05/10 17:22:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.674s, found feasible grasp: True
+[05/10 17:22:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.612[m] 92.644[deg]
+[05/10 17:22:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:22:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:22:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:24:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:24:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:24:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:25:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:26:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:26:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:26:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:26:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:26:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:26:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.79s (batch: 4.88s, save: 8.91s)
+[05/10 17:26:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.65s:
+  episode_total: mean=209.83s, total=209.83s, count=1, min=209827.6ms, max=209827.6ms
+  sensor_polling: mean=517.9ms, total=155.37s, count=300, min=440.2ms, max=1016.2ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8913.5ms, max=8913.5ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=18.5ms, max=93.6ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4880.2ms, max=4880.2ms
+  task_sampling: mean=649.7ms, total=649.7ms, count=1, min=649.7ms, max=649.7ms
+  task_specific_sample: mean=645.4ms, total=645.4ms, count=1, min=645.4ms, max=645.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=525.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:26:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:26:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:26:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:26:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:26:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:26:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:26:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:26:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:26:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:26:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:26:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
+[05/10 17:26:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:26:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:26:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089918m
+[05/10 17:26:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:26:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:26:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:26:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89886955  1.07010146  0.08991766] yaw=-149.8deg
+[05/10 17:26:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:26:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82383164  0.98757154  0.08991766] yaw=-157.4deg
+[05/10 17:26:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:26:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:26:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80602179  0.42407297  0.08991766] yaw=186.2deg
+[05/10 17:26:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:26:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:26:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.8ms
+[05/10 17:26:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.899, 1.070, 0.090)
+[05/10 17:26:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg
+[05/10 17:26:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
+[05/10 17:26:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:26:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:26:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:26:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:26:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:26:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 17:26:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
+[05/10 17:26:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:26:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:26:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/10 17:26:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.720s, found feasible grasp: True
+[05/10 17:26:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.560[m] 82.388[deg]
+[05/10 17:26:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:26:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:27:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:27:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:27:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:29:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:29:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:29:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:29:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:29:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:29:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:29:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:29:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:29:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:29:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:29:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:30:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:30:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:30:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.13s (batch: 4.22s, save: 8.91s)
+[05/10 17:30:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.38s:
+  episode_total: mean=217.44s, total=217.44s, count=1, min=217440.7ms, max=217440.7ms
+  sensor_polling: mean=517.2ms, total=155.15s, count=300, min=445.6ms, max=777.7ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8912.5ms, max=8912.5ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=15.5ms, max=62.7ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4220.4ms, max=4220.4ms
+  task_sampling: mean=383.1ms, total=383.1ms, count=1, min=383.1ms, max=383.1ms
+  task_specific_sample: mean=379.3ms, total=379.3ms, count=1, min=379.3ms, max=379.3ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=410.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:30:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:30:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:30:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:30:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:30:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:30:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:30:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:30:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:30:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:30:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
+[05/10 17:30:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:30:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:30:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068757m
+[05/10 17:30:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:30:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:30:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:30:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:30:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.07853709  1.19261764  0.06875739] yaw=-125.8deg
+[05/10 17:30:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:30:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92180884  0.43106909  0.06875739] yaw=186.6deg
+[05/10 17:30:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:30:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:30:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms
+[05/10 17:30:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.079, 1.193, 0.069)
+[05/10 17:30:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -125.8 deg
+[05/10 17:30:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m
+[05/10 17:30:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:30:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:30:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:30:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:30:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 17:30:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/10 17:30:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:30:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:30:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 17:30:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.561s, found feasible grasp: True
+[05/10 17:30:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.562[m] 101.807[deg]
+[05/10 17:30:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:31:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:31:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:32:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:32:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:32:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:32:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:32:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:32:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:32:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 76 non-colliding grasps
+[05/10 17:32:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.745s, found feasible grasp: True
+[05/10 17:32:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 2.086[deg]
+[05/10 17:32:45 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:32:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:32:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:32:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:32:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:32:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:32:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:32:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:32:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:32:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:32:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:32:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
+[05/10 17:32:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:32:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:32:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094633m
+[05/10 17:32:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:32:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:32:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:32:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 105.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8700357   0.5216637   0.09463261] yaw=-170.6deg
+[05/10 17:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72572802  0.71489559  0.09463261] yaw=-173.1deg
+[05/10 17:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:32:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7962643   0.10225993  0.09463261] yaw=153.8deg
+[05/10 17:32:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:32:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:32:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.2ms, total=98.2ms
+[05/10 17:32:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.522, 0.095)
+[05/10 17:32:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -170.6 deg
+[05/10 17:32:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.833m
+[05/10 17:32:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:32:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:32:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:32:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:32:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:32:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 17:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 17:32:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:32:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:32:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 17:32:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
+[05/10 17:32:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.395[m] 85.452[deg]
+[05/10 17:32:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:32:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:33:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:33:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:35:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:36:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:36:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 3/4: 1 episodes
+[05/10 17:36:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:36:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:36:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:36:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.73s (batch: 4.39s, save: 12.34s)
+[05/10 17:36:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.89s:
+  episode_total: mean=187.67s, total=375.35s, count=2, min=161090.6ms, max=214256.0ms
+  sensor_polling: mean=515.9ms, total=286.86s, count=556, min=438.9ms, max=1051.2ms
+  physics_step: mean=25.8ms, total=14.36s, count=556, min=15.5ms, max=148.1ms
+  save_trajectories: mean=12.34s, total=12.34s, count=1, min=12340.1ms, max=12340.1ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4387.9ms, max=4387.9ms
+  task_sampling: mean=446.2ms, total=892.4ms, count=2, min=369.3ms, max=523.1ms
+  task_specific_sample: mean=442.5ms, total=885.0ms, count=2, min=365.9ms, max=519.1ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
+  mj_forward_sync: mean=428.2us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 17:36:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:36:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:36:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:36:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:36:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:36:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:36:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:36:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:36:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:36:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:36:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.033m, effective arm-mount z=0.893m (base_body_z=0.033m, pedestal_h=0.860m)
+[05/10 17:36:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:36:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:36:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.032590m
+[05/10 17:36:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:36:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:36:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:23 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=166.2ms, total=166.2ms
+[05/10 17:36:23 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 17:36:23 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 17:36:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:36:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:36:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:36:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:36:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:36:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:36:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/10 17:36:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:36:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:36:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073044m
+[05/10 17:36:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:36:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:36:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 111.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:24 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=156.0ms, total=156.0ms
+[05/10 17:36:24 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 17:36:24 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 17:36:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:36:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:36:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:36:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:36:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:36:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:36:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
+[05/10 17:36:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:36:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:36:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044975m
+[05/10 17:36:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:36:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:36:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85628692  1.0240235   0.04497494] yaw=-145.6deg
+[05/10 17:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 129.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67045274  0.4570988   0.04497494] yaw=184.4deg
+[05/10 17:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:36:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.65920743  0.81893979  0.04497494] yaw=-171.2deg
+[05/10 17:36:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:36:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:36:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.3ms
+[05/10 17:36:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.856, 1.024, 0.045)
+[05/10 17:36:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.6 deg
+[05/10 17:36:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.005m
+[05/10 17:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:36:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:36:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 17:36:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 17:36:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:36:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:36:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 17:36:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.630s, found feasible grasp: True
+[05/10 17:36:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.573[m] 93.416[deg]
+[05/10 17:36:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:36:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
+[05/10 17:36:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
+[05/10 17:36:32 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
+[05/10 17:36:32 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=4946.70s
+  House averages:
+  episode_total: mean=149.35s, total=2688.26s, count=18, min=164.1ms, max=242778.1ms
+  sensor_polling: mean=519.0ms, total=1972.26s, count=3800, min=436.5ms, max=1051.2ms
+  save_trajectories: mean=10.06s, total=110.69s, count=11, min=8869.9ms, max=12340.1ms
+  physics_step: mean=25.9ms, total=98.57s, count=3800, min=14.8ms, max=148.1ms
+  save_batch_prep: mean=4.43s, total=48.72s, count=11, min=4104.5ms, max=5008.3ms
+  task_sampling: mean=722.2ms, total=11.55s, count=16, min=366.9ms, max=3906.0ms
+  task_specific_sample: mean=477.2ms, total=8.59s, count=18, min=160.6ms, max=667.9ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
+  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
+  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
+  task_sampling_failed: mean=171.2ms, total=342.3ms, count=2, min=164.1ms, max=178.2ms
+  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
+  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
+  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
+  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
+  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  mj_forward_sync: mean=508.2us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  policy_setup: mean=21.5us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 17:36:32 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 17:36:32 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4946.70s
+  Worker averages:
+  episode_total: mean=149.35s, total=2688.26s, count=18, min=164.1ms, max=242778.1ms
+  sensor_polling: mean=519.0ms, total=1972.26s, count=3800, min=436.5ms, max=1051.2ms
+  save_trajectories: mean=10.06s, total=110.69s, count=11, min=8869.9ms, max=12340.1ms
+  physics_step: mean=25.9ms, total=98.57s, count=3800, min=14.8ms, max=148.1ms
+  save_batch_prep: mean=4.43s, total=48.72s, count=11, min=4104.5ms, max=5008.3ms
+  task_sampling: mean=722.2ms, total=11.55s, count=16, min=366.9ms, max=3906.0ms
+  task_specific_sample: mean=477.2ms, total=8.59s, count=18, min=160.6ms, max=667.9ms
+  scene_load: mean=3.23s, total=3.23s, count=1, min=3234.4ms, max=3234.4ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1960.2ms, max=1960.2ms
+  scene_compile: mean=992.5ms, total=992.5ms, count=1, min=992.5ms, max=992.5ms
+  compile_mujoco: mean=754.5ms, total=754.5ms, count=1, min=754.5ms, max=754.5ms
+  task_sampling_failed: mean=171.2ms, total=342.3ms, count=2, min=164.1ms, max=178.2ms
+  compile_xml_load: mean=175.1ms, total=175.1ms, count=1, min=175.1ms, max=175.1ms
+  scene_asset_install: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
+  scene_init: mean=117.4ms, total=117.4ms, count=1, min=117.4ms, max=117.4ms
+  asset_install_grasps: mean=95.9ms, total=95.9ms, count=1, min=95.9ms, max=95.9ms
+  asset_install_objects: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  compile_aux_policy_objects: mean=47.6ms, total=47.6ms, count=1, min=47.6ms, max=47.6ms
+  scene_randomize: mean=2.3ms, total=41.9ms, count=18, min=1.2ms, max=3.6ms
+  asset_install_scene: mean=11.4ms, total=11.4ms, count=1, min=11.4ms, max=11.4ms
+  mj_forward_sync: mean=508.2us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  policy_setup: mean=21.5us, total=0.3ms, count=16, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 17:36:35 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 17:36:35 INFO pipeline.py:1491] Success count: 11, Total count: 11
+[05/10 17:36:35 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_004
+==========================================
diff --git a/fridge_7/chunk_004/shard_4_of_4.log b/fridge_7/chunk_004/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..9adc9e5a747f5b64c92295c330133c0c0499e51d
--- /dev/null
+++ b/fridge_7/chunk_004/shard_4_of_4.log
@@ -0,0 +1,1779 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_004
+  shard=4/4  seed=20404  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:51:11 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 16:51:11 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 16:51:11 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_004'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 16:51:11 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_004'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x78e2033b7650>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20404,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:51:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 16:51:11 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 16:51:11 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 132912107062224 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 132912107062224 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 132912107062224 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 132912107062224 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 132912110861392 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 132912110861392 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 132912110860880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 132912110860880 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 132912110860880 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 132912110860880 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 132912110861392 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 132912110861392 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 132912107102160 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 132912107102160 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 132912107100560 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 132912107100560 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 132912107100560 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 132912107100560 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 132912107102160 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 132912107102160 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 16:51:11 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 57c6f3194610 at 0x78e203787690>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57c6f3195da0 at 0x78e202175c10>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57c6f3195da0 at 0x78e203721610>
+[05/10 16:51:14 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 16:51:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:51:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:51:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:51:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
+[05/10 16:51:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:51:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:51:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075250m
+[05/10 16:51:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:51:14 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 16:51:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:51:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81497616  0.07697924  0.07525023] yaw=145.9deg
+[05/10 16:51:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:51:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.817896    0.31723752  0.07525023] yaw=160.3deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:51:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80449776  0.46495691  0.07525023] yaw=178.5deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:51:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:51:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=14.8ms, retries=115.4ms, total=130.2ms
+[05/10 16:51:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.815, 0.077, 0.075)
+[05/10 16:51:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 145.9 deg
+[05/10 16:51:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.975m
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:51:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:51:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:51:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 16:51:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.452s
+[05/10 16:51:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:51:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:51:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 16:51:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.332s, found feasible grasp: True
+[05/10 16:51:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.507[m] 81.826[deg]
+[05/10 16:51:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:51:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:51:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:52:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:52:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:53:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:54:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 16:55:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:55:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 16:55:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:55:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 16:55:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:55:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 17.02s (batch: 5.60s, save: 11.43s)
+[05/10 16:55:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.10s:
+  episode_total: mean=256.88s, total=256.88s, count=1, min=256877.0ms, max=256877.0ms
+  sensor_polling: mean=540.4ms, total=162.12s, count=300, min=456.6ms, max=948.5ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11428.8ms, max=11428.8ms
+  physics_step: mean=26.9ms, total=8.07s, count=300, min=18.3ms, max=94.6ms
+  save_batch_prep: mean=5.60s, total=5.60s, count=1, min=5595.6ms, max=5595.6ms
+  task_sampling: mean=4.10s, total=4.10s, count=1, min=4101.4ms, max=4101.4ms
+  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
+  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
+  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
+  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
+  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  task_specific_sample: mean=465.2ms, total=465.2ms, count=1, min=465.2ms, max=465.2ms
+  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
+  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=404.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=35.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:55:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:55:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:55:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:55:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:55:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:55:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:55:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:55:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:55:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:55:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:55:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 16:55:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:55:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:55:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028288m
+[05/10 16:55:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:55:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:55:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:55:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72072348  0.21078079  0.02828766] yaw=168.6deg
+[05/10 16:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72924306  0.87895691  0.02828766] yaw=-167.7deg
+[05/10 16:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88261016  0.79878013  0.02828766] yaw=-148.3deg
+[05/10 16:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 16:55:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:55:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.4ms, total=105.4ms
+[05/10 16:55:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.211, 0.028)
+[05/10 16:55:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.6 deg
+[05/10 16:55:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.018m
+[05/10 16:55:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:55:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:55:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:55:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:55:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:55:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 16:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 16:55:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:55:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:55:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 16:55:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True
+[05/10 16:55:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.580[m] 94.848[deg]
+[05/10 16:55:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:55:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:55:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 16:56:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 16:56:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 16:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 16:58:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 16:58:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:58:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 16:58:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 16:59:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 16:59:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 16:59:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.98s (batch: 4.23s, save: 9.75s)
+[05/10 16:59:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.39s:
+  episode_total: mean=214.86s, total=214.86s, count=1, min=214864.7ms, max=214864.7ms
+  sensor_polling: mean=529.1ms, total=158.73s, count=300, min=459.8ms, max=1095.3ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9749.3ms, max=9749.3ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=17.9ms, max=134.6ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4229.5ms, max=4229.5ms
+  task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
+  task_specific_sample: mean=383.2ms, total=383.2ms, count=1, min=383.2ms, max=383.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=432.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 16:59:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 16:59:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 16:59:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 16:59:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:59:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:59:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:59:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:59:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 16:59:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 16:59:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 16:59:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
+[05/10 16:59:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 16:59:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 16:59:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063641m
+[05/10 16:59:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 16:59:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 16:59:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 16:59:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:59:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71948169 -0.00245467  0.0636405 ] yaw=151.7deg
+[05/10 16:59:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 16:59:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:59:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:59:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 16:59:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88081432  0.3994378   0.0636405 ] yaw=173.4deg
+[05/10 16:59:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 16:59:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 16:59:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=597.6ms, total=597.7ms
+[05/10 16:59:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.719, -0.002, 0.064)
+[05/10 16:59:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 151.7 deg
+[05/10 16:59:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.096m
+[05/10 16:59:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 16:59:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 16:59:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 16:59:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 16:59:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 16:59:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 16:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.140s
+[05/10 16:59:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 16:59:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 16:59:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 16:59:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.897s, found feasible grasp: True
+[05/10 16:59:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.671[m] 96.856[deg]
+[05/10 16:59:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 16:59:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 16:59:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:00:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:00:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:00:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:01:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:01:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:01:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:01:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:01:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:01:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:01:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:01:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:01:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 78 non-colliding grasps
+[05/10 17:02:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.551s, found feasible grasp: True
+[05/10 17:02:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.168[deg]
+[05/10 17:02:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:02:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:02:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:02:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:02:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:02:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:02:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:02:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:03:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:03:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:03:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.07s (batch: 4.36s, save: 9.71s)
+[05/10 17:03:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.92s:
+  episode_total: mean=235.74s, total=235.74s, count=1, min=235735.5ms, max=235735.5ms
+  sensor_polling: mean=514.7ms, total=154.42s, count=300, min=447.4ms, max=823.5ms
+  save_trajectories: mean=9.71s, total=9.71s, count=1, min=9708.6ms, max=9708.6ms
+  physics_step: mean=24.7ms, total=7.41s, count=300, min=13.9ms, max=61.3ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4364.1ms, max=4364.1ms
+  task_sampling: mean=917.9ms, total=917.9ms, count=1, min=917.9ms, max=917.9ms
+  task_specific_sample: mean=903.2ms, total=903.2ms, count=1, min=903.2ms, max=903.2ms
+  scene_randomize: mean=13.2ms, total=13.2ms, count=1, min=13.2ms, max=13.2ms
+  mj_forward_sync: mean=580.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:03:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:03:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:03:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:03:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:03:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:03:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:03:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:03:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:03:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:03:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:03:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/10 17:03:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:03:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:03:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040872m
+[05/10 17:03:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:03:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:03:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:03:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:03:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 127.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:03:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97274775  0.69034929  0.04087243] yaw=-153.9deg
+[05/10 17:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:03:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93603365  0.89222485  0.04087243] yaw=-151.4deg
+[05/10 17:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.14757969  1.16884906  0.04087243] yaw=-139.5deg
+[05/10 17:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:03:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:03:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.8ms, total=388.9ms
+[05/10 17:03:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.973, 0.690, 0.041)
+[05/10 17:03:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.9 deg
+[05/10 17:03:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.759m
+[05/10 17:03:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:03:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:03:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:03:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:03:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:03:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 17:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.189s
+[05/10 17:03:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:03:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:03:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps
+[05/10 17:03:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.070s, found feasible grasp: True
+[05/10 17:03:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.316[m] 85.838[deg]
+[05/10 17:03:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:03:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:05:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:06:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:06:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:06:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 285 timesteps
+[05/10 17:06:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:06:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:06:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.97s (batch: 4.70s, save: 11.27s)
+[05/10 17:06:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.87s:
+  episode_total: mean=203.51s, total=203.51s, count=1, min=203512.4ms, max=203512.4ms
+  sensor_polling: mean=528.5ms, total=150.08s, count=284, min=457.0ms, max=1040.9ms
+  save_trajectories: mean=11.27s, total=11.27s, count=1, min=11266.1ms, max=11266.1ms
+  physics_step: mean=25.8ms, total=7.32s, count=284, min=18.2ms, max=121.8ms
+  save_batch_prep: mean=4.70s, total=4.70s, count=1, min=4703.3ms, max=4703.3ms
+  task_sampling: mean=873.5ms, total=873.5ms, count=1, min=873.5ms, max=873.5ms
+  task_specific_sample: mean=864.3ms, total=864.3ms, count=1, min=864.3ms, max=864.3ms
+  scene_randomize: mean=7.7ms, total=7.7ms, count=1, min=7.7ms, max=7.7ms
+  mj_forward_sync: mean=557.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:06:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:06:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:06:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:06:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:06:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:06:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:06:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:06:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:06:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:06:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
+[05/10 17:06:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:06:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:06:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038847m
+[05/10 17:06:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:06:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:06:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:06:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:06:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81789351  0.39249442  0.03884694] yaw=181.2deg
+[05/10 17:06:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:06:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85566066  0.70564347  0.03884694] yaw=-154.2deg
+[05/10 17:06:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:06:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82887966  0.13838141  0.03884694] yaw=161.2deg
+[05/10 17:06:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:06:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:06:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.1ms, total=154.1ms
+[05/10 17:06:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.392, 0.039)
+[05/10 17:06:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 181.2 deg
+[05/10 17:06:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.889m
+[05/10 17:06:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:06:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:06:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:06:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:06:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 17:06:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 17:06:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:06:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:06:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 17:06:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.530s, found feasible grasp: True
+[05/10 17:06:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.415[m] 86.157[deg]
+[05/10 17:06:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:07:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:07:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:09:22 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:09:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:09:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:09:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:10:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:10:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:10:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 13.83s (batch: 4.46s, save: 9.37s)
+[05/10 17:10:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.45s:
+  episode_total: mean=212.73s, total=212.73s, count=1, min=212725.6ms, max=212725.6ms
+  sensor_polling: mean=524.7ms, total=157.41s, count=300, min=439.0ms, max=795.5ms
+  save_trajectories: mean=9.37s, total=9.37s, count=1, min=9370.5ms, max=9370.5ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=17.9ms, max=117.1ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4459.4ms, max=4459.4ms
+  task_sampling: mean=450.3ms, total=450.3ms, count=1, min=450.3ms, max=450.3ms
+  task_specific_sample: mean=446.5ms, total=446.5ms, count=1, min=446.5ms, max=446.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=441.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:10:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:10:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:10:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:10:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:10:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:10:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:10:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:10:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:10:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:10:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:10:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 17:10:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:10:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:10:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077259m
+[05/10 17:10:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:10:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:10:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:10:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77681156  0.61100902  0.07725933] yaw=-175.9deg
+[05/10 17:10:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:10:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90455869  0.48311657  0.07725933] yaw=-174.7deg
+[05/10 17:10:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 99.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:10:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:10:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79535936  0.37121122  0.07725933] yaw=168.3deg
+[05/10 17:10:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:10:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:10:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=160.9ms
+[05/10 17:10:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 0.611, 0.077)
+[05/10 17:10:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.9 deg
+[05/10 17:10:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.934m
+[05/10 17:10:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:10:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:10:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:10:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:10:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:10:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 17:10:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/10 17:10:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:10:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:10:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 17:10:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True
+[05/10 17:10:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.487[m] 86.810[deg]
+[05/10 17:10:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:10:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:11:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:12:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:13:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:13:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:13:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:13:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:13:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:13:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 15.62s (batch: 4.34s, save: 11.28s)
+[05/10 17:13:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.51s:
+  episode_total: mean=215.25s, total=215.25s, count=1, min=215248.3ms, max=215248.3ms
+  sensor_polling: mean=522.1ms, total=156.62s, count=300, min=451.5ms, max=933.3ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11281.6ms, max=11281.6ms
+  physics_step: mean=25.7ms, total=7.72s, count=300, min=18.0ms, max=88.4ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4335.6ms, max=4335.6ms
+  task_sampling: mean=510.2ms, total=510.2ms, count=1, min=510.2ms, max=510.2ms
+  task_specific_sample: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=415.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:13:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:13:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:13:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:13:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:13:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:13:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:13:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:13:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:13:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:13:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:13:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
+[05/10 17:13:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:13:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:13:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093589m
+[05/10 17:13:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:13:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:13:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:13:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70091235  0.74074463  0.09358929] yaw=-155.8deg
+[05/10 17:13:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:13:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75550472  0.41921094  0.09358929] yaw=171.4deg
+[05/10 17:13:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:13:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80566141  0.9516933   0.09358929] yaw=-159.8deg
+[05/10 17:13:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:13:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:13:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.2ms, total=91.3ms
+[05/10 17:13:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.701, 0.741, 0.094)
+[05/10 17:13:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg
+[05/10 17:13:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m
+[05/10 17:13:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:13:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:13:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:13:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:13:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:13:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 17:13:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 17:13:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:13:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:13:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 17:13:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.868s, found feasible grasp: True
+[05/10 17:13:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.570[m] 75.843[deg]
+[05/10 17:13:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:13:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:13:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:14:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:14:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:16:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:16:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:16:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:16:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:17:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:17:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:17:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.91s (batch: 5.84s, save: 9.08s)
+[05/10 17:17:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.41s:
+  episode_total: mean=208.12s, total=208.12s, count=1, min=208118.1ms, max=208118.1ms
+  sensor_polling: mean=521.6ms, total=156.48s, count=300, min=437.4ms, max=958.7ms
+  save_trajectories: mean=9.08s, total=9.08s, count=1, min=9075.8ms, max=9075.8ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=16.9ms, max=101.0ms
+  save_batch_prep: mean=5.84s, total=5.84s, count=1, min=5835.0ms, max=5835.0ms
+  task_sampling: mean=408.2ms, total=408.2ms, count=1, min=408.2ms, max=408.2ms
+  task_specific_sample: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=487.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:17:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:17:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:17:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:17:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:17:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:17:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:17:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:17:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:17:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:17:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:17:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
+[05/10 17:17:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:17:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:17:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071945m
+[05/10 17:17:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:17:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:17:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:17:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:17:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.2051489   1.09014751  0.07194474] yaw=-133.7deg
+[05/10 17:17:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:17:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87941551  1.11707535  0.07194474] yaw=-140.5deg
+[05/10 17:17:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:17:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68809405  0.1187716   0.07194474] yaw=163.9deg
+[05/10 17:17:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:17:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:17:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=91.3ms, total=91.3ms
+[05/10 17:17:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.205, 1.090, 0.072)
+[05/10 17:17:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg
+[05/10 17:17:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/10 17:17:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:17:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:17:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:17:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:17:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:17:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 17:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 17:17:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:17:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:17:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 17:17:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.494s, found feasible grasp: True
+[05/10 17:17:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.382[m] 87.878[deg]
+[05/10 17:17:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:17:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:17:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:17:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:18:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:19:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:19:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:19:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:19:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:19:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:19:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:19:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:19:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps
+[05/10 17:19:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True
+[05/10 17:19:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.355[deg]
+[05/10 17:19:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:19:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:19:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:19:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:19:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:19:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:19:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:19:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:19:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:19:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:19:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:19:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/10 17:19:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:19:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:19:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041211m
+[05/10 17:19:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:19:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:19:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:19:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:19:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:19:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:19:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96422574  0.83790477  0.04121141] yaw=-153.8deg
+[05/10 17:19:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:19:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79949137  0.66778023  0.04121141] yaw=-163.4deg
+[05/10 17:19:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:19:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82038026  0.18915596  0.04121141] yaw=150.4deg
+[05/10 17:19:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:19:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:19:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=340.3ms, total=340.3ms
+[05/10 17:19:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.964, 0.838, 0.041)
+[05/10 17:19:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.8 deg
+[05/10 17:19:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
+[05/10 17:19:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:19:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:19:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:19:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:19:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:19:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 17:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.162s
+[05/10 17:19:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:19:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:19:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 17:19:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.274s, found feasible grasp: True
+[05/10 17:19:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.427[m] 97.105[deg]
+[05/10 17:19:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:22:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:22:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:22:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:22:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:23:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:23:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:23:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 16.53s (batch: 5.14s, save: 11.39s)
+[05/10 17:23:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.03s:
+  episode_total: mean=179.14s, total=358.27s, count=2, min=146860.5ms, max=211413.5ms
+  sensor_polling: mean=513.4ms, total=280.30s, count=546, min=427.3ms, max=1050.5ms
+  physics_step: mean=24.9ms, total=13.60s, count=546, min=16.1ms, max=124.2ms
+  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11388.3ms, max=11388.3ms
+  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5140.5ms, max=5140.5ms
+  task_sampling: mean=515.0ms, total=1.03s, count=2, min=377.4ms, max=652.6ms
+  task_specific_sample: mean=511.1ms, total=1.02s, count=2, min=373.7ms, max=648.5ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.7ms, max=2.5ms
+  mj_forward_sync: mean=509.2us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 17:23:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:23:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:23:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:23:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:23:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:23:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:23:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:23:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:23:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:23:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:23:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
+[05/10 17:23:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:23:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:23:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047686m
+[05/10 17:23:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:23:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:23:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.86278248  0.48790772  0.04768634] yaw=-175.5deg
+[05/10 17:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71780782  0.33594549  0.04768634] yaw=168.7deg
+[05/10 17:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:23:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:23:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99902067  1.13381653  0.04768634] yaw=-128.2deg
+[05/10 17:23:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:23:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:23:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=121.0ms
+[05/10 17:23:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.863, 0.488, 0.048)
+[05/10 17:23:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg
+[05/10 17:23:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.840m
+[05/10 17:23:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:23:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:23:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:23:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:23:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:23:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 17:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 17:23:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:23:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:23:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 17:23:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.451s, found feasible grasp: True
+[05/10 17:23:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.426[m] 96.009[deg]
+[05/10 17:23:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:23:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:23:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:25:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:25:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:25:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:25:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:25:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:25:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:25:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:25:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:25:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 80 non-colliding grasps
+[05/10 17:25:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.842s, found feasible grasp: True
+[05/10 17:25:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.184[deg]
+[05/10 17:25:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:25:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:25:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:25:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:26:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:27:04 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:27:04 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:27:04 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:27:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:27:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:27:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.89s (batch: 4.32s, save: 8.57s)
+[05/10 17:27:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.43s:
+  episode_total: mean=244.89s, total=244.89s, count=1, min=244885.2ms, max=244885.2ms
+  sensor_polling: mean=516.6ms, total=154.99s, count=300, min=452.0ms, max=757.4ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.5ms, max=8571.5ms
+  physics_step: mean=24.7ms, total=7.40s, count=300, min=18.4ms, max=75.0ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4321.9ms, max=4321.9ms
+  task_sampling: mean=425.1ms, total=425.1ms, count=1, min=425.1ms, max=425.1ms
+  task_specific_sample: mean=421.2ms, total=421.2ms, count=1, min=421.2ms, max=421.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=418.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:27:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:27:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:27:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:27:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:27:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:27:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:27:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:27:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:27:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:27:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:27:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 17:27:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:27:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:27:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056143m
+[05/10 17:27:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:27:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:27:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:27:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:27:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:27:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:27:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:27:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76487977  1.02911056  0.05614299] yaw=-140.8deg
+[05/10 17:27:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:27:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:27:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=172.0ms, total=172.1ms
+[05/10 17:27:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.765, 1.029, 0.056)
+[05/10 17:27:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg
+[05/10 17:27:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.085m
+[05/10 17:27:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:27:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:27:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:27:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:27:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:27:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 17:27:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 17:27:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:27:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:27:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 17:27:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.961s, found feasible grasp: True
+[05/10 17:27:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.707[m] 104.478[deg]
+[05/10 17:27:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:27:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:28:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:28:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:30:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:30:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:30:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:30:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:30:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:30:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:30:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.98s (batch: 4.27s, save: 8.70s)
+[05/10 17:30:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.56s:
+  episode_total: mean=205.61s, total=205.61s, count=1, min=205611.0ms, max=205611.0ms
+  sensor_polling: mean=512.7ms, total=153.80s, count=300, min=441.1ms, max=882.1ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8703.6ms, max=8703.6ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=15.4ms, max=76.9ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.4ms, max=4272.4ms
+  task_sampling: mean=557.3ms, total=557.3ms, count=1, min=557.3ms, max=557.3ms
+  task_specific_sample: mean=553.3ms, total=553.3ms, count=1, min=553.3ms, max=553.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=450.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:30:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:30:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:30:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:30:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:30:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:30:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:30:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:30:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:30:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:30:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:30:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 17:30:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:30:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:30:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039937m
+[05/10 17:30:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:30:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:30:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:30:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:30:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97790237  1.18738973  0.03993746] yaw=-127.3deg
+[05/10 17:30:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:30:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:30:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98013548  0.85655849  0.03993746] yaw=-141.8deg
+[05/10 17:30:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:30:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:30:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:30:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=570.5ms, total=570.5ms
+[05/10 17:30:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.187, 0.040)
+[05/10 17:30:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.3 deg
+[05/10 17:30:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.011m
+[05/10 17:30:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:30:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:30:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:30:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:30:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:30:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 17:30:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.111s
+[05/10 17:30:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:30:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:30:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 17:30:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.152s, found feasible grasp: True
+[05/10 17:30:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.656[m] 104.230[deg]
+[05/10 17:30:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:30:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:30:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:32:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:32:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:33:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:33:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:33:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:33:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:33:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:33:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:33:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:33:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
+[05/10 17:33:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.655s, found feasible grasp: False
+[05/10 17:33:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 17:33:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:33:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:33:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:33:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:33:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:33:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:33:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:33:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:33:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:33:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:33:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
+[05/10 17:33:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:33:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:33:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005555m
+[05/10 17:33:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:33:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:33:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:33:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:33:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 126.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:33:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79796191  0.59032679  0.00555468] yaw=-171.8deg
+[05/10 17:33:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:33:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 114.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:33:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.65768666  0.59803248  0.00555468] yaw=-166.6deg
+[05/10 17:33:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:33:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7340947   0.36144263  0.00555468] yaw=164.7deg
+[05/10 17:33:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:33:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:33:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms
+[05/10 17:33:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.798, 0.590, 0.006)
+[05/10 17:33:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.8 deg
+[05/10 17:33:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
+[05/10 17:33:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:33:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:33:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:33:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:33:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:33:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 17:33:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
+[05/10 17:33:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:33:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:33:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 17:33:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.441s, found feasible grasp: True
+[05/10 17:33:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.461[m] 92.295[deg]
+[05/10 17:33:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:33:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:33:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:34:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:34:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:34:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:36:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:36:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:36:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:36:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:37:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:37:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:37:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.64s (batch: 4.20s, save: 8.44s)
+[05/10 17:37:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.69s:
+  episode_total: mean=192.04s, total=384.07s, count=2, min=173598.9ms, max=210473.2ms
+  sensor_polling: mean=529.1ms, total=307.94s, count=582, min=439.0ms, max=950.2ms
+  physics_step: mean=26.8ms, total=15.61s, count=582, min=15.1ms, max=121.4ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8443.2ms, max=8443.2ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.3ms, max=4201.3ms
+  task_sampling: mean=847.0ms, total=1.69s, count=2, min=448.4ms, max=1245.5ms
+  task_specific_sample: mean=842.9ms, total=1.69s, count=2, min=445.2ms, max=1240.6ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=526.0us, total=1.1ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 17:37:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:37:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:37:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:37:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:37:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:37:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:37:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:37:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:37:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:37:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:37:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 17:37:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:37:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:37:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034546m
+[05/10 17:37:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:37:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:37:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:37:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 159.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:37:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75350632  0.13593235  0.03454601] yaw=150.4deg
+[05/10 17:37:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:37:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:37:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:37:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75932814  0.20555604  0.03454601] yaw=155.8deg
+[05/10 17:37:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:37:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84895012  0.26176307  0.03454601] yaw=174.4deg
+[05/10 17:37:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:37:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:37:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.2ms, total=114.2ms
+[05/10 17:37:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.754, 0.136, 0.035)
+[05/10 17:37:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.4 deg
+[05/10 17:37:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.010m
+[05/10 17:37:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:37:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:37:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:37:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:37:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:37:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 17:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 17:37:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:37:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:37:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 17:37:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.933s, found feasible grasp: True
+[05/10 17:37:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.561[m] 82.330[deg]
+[05/10 17:37:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:37:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:38:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:38:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:40:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:40:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:40:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:40:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:40:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:40:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:40:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 14.26s (batch: 4.18s, save: 10.09s)
+[05/10 17:40:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.43s:
+  episode_total: mean=210.02s, total=210.02s, count=1, min=210019.0ms, max=210019.0ms
+  sensor_polling: mean=525.3ms, total=157.60s, count=300, min=448.8ms, max=1130.4ms
+  save_trajectories: mean=10.09s, total=10.09s, count=1, min=10086.0ms, max=10086.0ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=18.1ms, max=111.2ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4177.8ms, max=4177.8ms
+  task_sampling: mean=430.0ms, total=430.0ms, count=1, min=430.0ms, max=430.0ms
+  task_specific_sample: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=415.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:40:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:40:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:40:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:40:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:40:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:40:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:40:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:40:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:40:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:40:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:40:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
+[05/10 17:40:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:40:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:40:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056516m
+[05/10 17:40:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:40:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:40:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:40:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:40:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:40:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:40:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94003423  0.16454842  0.05651629] yaw=157.8deg
+[05/10 17:40:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:40:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:40:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76037567  0.49217918  0.05651629] yaw=-173.7deg
+[05/10 17:40:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:40:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:40:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.7ms
+[05/10 17:40:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.940, 0.165, 0.057)
+[05/10 17:40:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.8 deg
+[05/10 17:40:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.826m
+[05/10 17:40:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:40:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:40:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:40:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:40:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:40:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 17:40:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 17:40:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:40:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:40:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 17:40:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True
+[05/10 17:40:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.360[m] 86.319[deg]
+[05/10 17:40:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:40:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:40:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:41:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:41:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:42:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:42:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:42:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:42:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:42:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:42:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:42:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:42:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:42:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:42:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:42:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
+[05/10 17:42:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.406s, found feasible grasp: True
+[05/10 17:42:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]
+[05/10 17:42:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:42:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:42:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:42:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:42:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:42:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:42:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:42:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:42:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 17:42:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:42:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:42:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps
+[05/10 17:42:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.464s, found feasible grasp: True
+[05/10 17:42:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]
+[05/10 17:43:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:43:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:43:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:43:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:43:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:43:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:43:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:43:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:43:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:43:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:43:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 17:43:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:43:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:43:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
+[05/10 17:43:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.348s, found feasible grasp: True
+[05/10 17:43:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.319[deg]
+[05/10 17:43:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:43:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:43:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:43:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:43:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:43:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 17:43:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=False
+[05/10 17:43:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=False episode_total=0.51s:
+  episode_total: mean=160.86s, total=160.86s, count=1, min=160861.3ms, max=160861.3ms
+  sensor_polling: mean=524.4ms, total=110.12s, count=210, min=427.2ms, max=1165.1ms
+  physics_step: mean=24.8ms, total=5.22s, count=210, min=12.9ms, max=119.9ms
+  task_sampling: mean=506.3ms, total=506.3ms, count=1, min=506.3ms, max=506.3ms
+  task_specific_sample: mean=502.4ms, total=502.4ms, count=1, min=502.4ms, max=502.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=436.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:43:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:43:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:43:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:43:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:43:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:43:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:43:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:43:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:43:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:43:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:43:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.071m, effective arm-mount z=0.931m (base_body_z=0.071m, pedestal_h=0.860m)
+[05/10 17:43:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:43:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:43:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070869m
+[05/10 17:43:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:43:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:43:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:43:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6965765   0.45003992  0.07086929] yaw=176.8deg
+[05/10 17:43:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:43:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69652137  0.28877264  0.07086929] yaw=179.6deg
+[05/10 17:43:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:43:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:43:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:43:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:43:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87155419  0.6764731   0.07086929] yaw=-155.8deg
+[05/10 17:43:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:43:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:43:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.2ms, total=139.2ms
+[05/10 17:43:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.697, 0.450, 0.071)
+[05/10 17:43:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg
+[05/10 17:43:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.006m
+[05/10 17:43:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:43:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:43:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:43:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:43:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:43:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 17:43:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 17:43:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:43:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:43:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 17:43:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.603s, found feasible grasp: True
+[05/10 17:43:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.530[m] 83.337[deg]
+[05/10 17:43:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:44:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:44:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:44:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:46:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:46:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:46:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:46:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:46:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:46:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:46:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.43s (batch: 4.12s, save: 8.31s)
+[05/10 17:46:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s:
+  episode_total: mean=197.73s, total=197.73s, count=1, min=197730.3ms, max=197730.3ms
+  sensor_polling: mean=504.8ms, total=151.44s, count=300, min=425.9ms, max=901.1ms
+  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8307.1ms, max=8307.1ms
+  physics_step: mean=26.9ms, total=8.06s, count=300, min=15.3ms, max=114.7ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4124.1ms, max=4124.1ms
+  task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
+  task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=440.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:46:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:46:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:46:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:46:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:46:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:46:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:46:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:46:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:46:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:46:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:46:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
+[05/10 17:46:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:46:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:46:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018811m
+[05/10 17:46:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:46:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:46:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:46:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:46:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99026769  0.82555632  0.01881063] yaw=-144.2deg
+[05/10 17:46:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:46:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99727605  1.29964612  0.01881063] yaw=-123.6deg
+[05/10 17:46:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:46:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:46:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:46:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95585164  0.83276541  0.01881063] yaw=-143.6deg
+[05/10 17:46:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:46:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:46:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=674.4ms, total=674.4ms
+[05/10 17:46:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.826, 0.019)
+[05/10 17:46:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.2 deg
+[05/10 17:46:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m
+[05/10 17:46:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:46:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:46:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:46:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:46:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:46:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 17:46:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 17:46:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:46:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:46:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 17:46:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.749s, found feasible grasp: True
+[05/10 17:46:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.392[m] 97.087[deg]
+[05/10 17:46:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:46:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:47:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:49:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 17:49:36 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:49:36 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_004 batch 4/4: 1 episodes
+[05/10 17:49:36 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:49:49 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 17:49:49 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_004
+[05/10 17:49:49 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_004 in 12.75s (batch: 4.16s, save: 8.60s)
+[05/10 17:49:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.95s:
+  episode_total: mean=181.60s, total=181.60s, count=1, min=181602.6ms, max=181602.6ms
+  sensor_polling: mean=455.8ms, total=136.75s, count=300, min=430.9ms, max=702.1ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8598.3ms, max=8598.3ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=15.3ms, max=60.3ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4155.5ms, max=4155.5ms
+  task_sampling: mean=951.6ms, total=951.6ms, count=1, min=951.6ms, max=951.6ms
+  task_specific_sample: mean=947.7ms, total=947.7ms, count=1, min=947.7ms, max=947.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=443.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:49:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:49:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:49:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:49:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:49:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:49:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:49:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:49:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:49:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:49:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:49:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
+[05/10 17:49:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:49:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:49:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038916m
+[05/10 17:49:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:49:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:49:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:49:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95989546  0.15490859  0.03891584] yaw=163.8deg
+[05/10 17:49:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:49:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:49:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8509482   0.61731675  0.03891584] yaw=-177.0deg
+[05/10 17:49:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:49:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:49:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:49:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.91610024  0.15764415  0.03891584] yaw=163.3deg
+[05/10 17:49:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:49:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:49:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.5ms, total=205.6ms
+[05/10 17:49:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.960, 0.155, 0.039)
+[05/10 17:49:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.8 deg
+[05/10 17:49:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m
+[05/10 17:49:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:49:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:49:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:49:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:49:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:49:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 17:49:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 17:49:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:49:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:49:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 17:49:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.506s, found feasible grasp: True
+[05/10 17:49:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.397[m] 93.873[deg]
+[05/10 17:49:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:49:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:49:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:50:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:50:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:50:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:51:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:51:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:51:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:51:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:51:46 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:51:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:51:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:51:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
+[05/10 17:51:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.469s, found feasible grasp: True
+[05/10 17:51:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.230[deg]
+[05/10 17:51:48 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:51:50 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
+[05/10 17:51:50 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_004
+[05/10 17:51:50 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 14/15 successful episodes
+[05/10 17:51:50 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=6613.37s
+  House averages:
+  episode_total: mean=200.39s, total=3607.07s, count=18, min=116928.2ms, max=256877.0ms
+  sensor_polling: mean=516.0ms, total=2643.31s, count=5123, min=425.9ms, max=1165.1ms
+  save_trajectories: mean=9.71s, total=135.98s, count=14, min=8307.1ms, max=11428.8ms
+  physics_step: mean=25.3ms, total=129.63s, count=5123, min=12.9ms, max=134.6ms
+  save_batch_prep: mean=4.57s, total=63.92s, count=14, min=4124.1ms, max=5835.0ms
+  task_sampling: mean=790.3ms, total=14.22s, count=18, min=377.4ms, max=4101.4ms
+  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=373.7ms, max=1240.6ms
+  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
+  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
+  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
+  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
+  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
+  scene_randomize: mean=3.2ms, total=58.1ms, count=18, min=1.2ms, max=13.2ms
+  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=466.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  policy_setup: mean=22.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 17:51:50 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 17:51:50 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6613.37s
+  Worker averages:
+  episode_total: mean=200.39s, total=3607.07s, count=18, min=116928.2ms, max=256877.0ms
+  sensor_polling: mean=516.0ms, total=2643.31s, count=5123, min=425.9ms, max=1165.1ms
+  save_trajectories: mean=9.71s, total=135.98s, count=14, min=8307.1ms, max=11428.8ms
+  physics_step: mean=25.3ms, total=129.63s, count=5123, min=12.9ms, max=134.6ms
+  save_batch_prep: mean=4.57s, total=63.92s, count=14, min=4124.1ms, max=5835.0ms
+  task_sampling: mean=790.3ms, total=14.22s, count=18, min=377.4ms, max=4101.4ms
+  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=373.7ms, max=1240.6ms
+  scene_load: mean=3.63s, total=3.63s, count=1, min=3633.1ms, max=3633.1ms
+  scene_env_create: mean=2.20s, total=2.20s, count=1, min=2202.8ms, max=2202.8ms
+  scene_compile: mean=1.32s, total=1.32s, count=1, min=1317.1ms, max=1317.1ms
+  compile_mujoco: mean=730.8ms, total=730.8ms, count=1, min=730.8ms, max=730.8ms
+  compile_xml_load: mean=497.8ms, total=497.8ms, count=1, min=497.8ms, max=497.8ms
+  scene_init: mean=67.2ms, total=67.2ms, count=1, min=67.2ms, max=67.2ms
+  scene_randomize: mean=3.2ms, total=58.1ms, count=18, min=1.2ms, max=13.2ms
+  scene_asset_install: mean=45.7ms, total=45.7ms, count=1, min=45.7ms, max=45.7ms
+  compile_aux_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_aux_policy_objects: mean=43.8ms, total=43.8ms, count=1, min=43.8ms, max=43.8ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  mj_forward_sync: mean=466.4us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  policy_setup: mean=22.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 17:51:52 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 17:51:52 INFO pipeline.py:1491] Success count: 14, Total count: 15
+[05/10 17:51:52 INFO pipeline.py:1492] Success rate: 93.33%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_004
+==========================================
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+05/10 17:52:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 17:52:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 17:52:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 17:52:24 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x770679454550>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20502,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 17:52:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 17:52:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 17:52:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 17:52:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 17:52:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 17:52:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 17:52:24 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f8d7afc1bd0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20501,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 17:52:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 17:52:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 17:52:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 17:52:24 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 17:52:24 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 17:52:24 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 17:52:24 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 17:52:24 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 17:52:25 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7c7784638ad0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20503,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 17:52:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 17:52:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 17:52:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 17:52:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 17:52:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 17:52:25 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 17:52:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 17:52:25 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7b86a78c3d50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20504,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 17:52:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 17:52:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 17:52:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 17:52:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 17:52:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 17:52:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 17:52:27 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 17:52:27 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 17:52:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:52:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:52:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 17:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:52:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 17:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:52:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:52:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020760m	[env.py: 870]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:52:27 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 17:52:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63593904  0.27675816  0.02075952] yaw=160.3deg	[env.py: 1019]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82218648  0.88892956  0.02075952] yaw=-144.5deg	[env.py: 1019]
+05/10 17:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.1517438   1.04800287  0.02075952] yaw=-144.4deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=12.6ms, retries=99.6ms, total=112.2ms	[env.py: 1075]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.636, 0.277, 0.021)	[env.py: 1079]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg	[env.py: 1082]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:52:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 17:52:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 17:52:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:52:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:52:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 17:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072128m	[env.py: 870]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:52:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 17:52:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 17:52:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:52:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044562m	[env.py: 870]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:52:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01279411  1.25093177  0.07212764] yaw=-135.5deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79243203  0.3439664   0.07212764] yaw=175.9deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:52:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 17:52:28 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75061833  0.47104023  0.04456229] yaw=178.0deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84702069  0.38589366  0.07212764] yaw=184.2deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=30.5ms, retries=196.2ms, total=226.8ms	[env.py: 1075]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 1.251, 0.072)	[env.py: 1079]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg	[env.py: 1082]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79196793  0.90462043  0.04456229] yaw=-151.6deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:52:28 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 17:52:28 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 17:52:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:52:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:52:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:52:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:52:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:52:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084719m	[env.py: 870]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:52:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=35.6ms, retries=417.5ms, total=453.1ms	[env.py: 1075]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.471, 0.045)	[env.py: 1079]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg	[env.py: 1082]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:52:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:52:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:52:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:52:28 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69757086  0.84132334  0.08471936] yaw=-162.0deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6607921   0.65728391  0.08471936] yaw=-165.8deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91750275  0.98954903  0.08471936] yaw=-157.5deg	[env.py: 1019]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:52:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=23.7ms, retries=410.9ms, total=434.6ms	[env.py: 1075]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.841, 0.085)	[env.py: 1079]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg	[env.py: 1082]
+05/10 17:52:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:52:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:52:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:52:29 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:53:02 INFO: [Worker 0] Warmed up parallel IK solver in 33.522s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:53:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:53:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:53:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:53:02 INFO: [Worker 0] Warmed up parallel IK solver in 33.893s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:53:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:53:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:53:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:53:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.728s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:53:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.538[m] 101.375[deg]	[grasp_sample.py: 539]
+05/10 17:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:53:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:53:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.599[m] 83.807[deg]	[grasp_sample.py: 539]
+05/10 17:53:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:53:03 INFO: [Worker 0] Warmed up parallel IK solver in 35.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:53:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:53:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:53:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:53:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:53:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:53:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:53:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:53:04 INFO: [Worker 0] Warmed up parallel IK solver in 34.820s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:53:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:53:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:53:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:53:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.692s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:53:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 88.058[deg]	[grasp_sample.py: 539]
+05/10 17:53:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:53:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:53:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.659[m] 87.650[deg]	[grasp_sample.py: 539]
+05/10 17:53:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:53:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:53:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:53:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:53:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:54:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:54:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:54:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:54:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:54:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:55:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:55:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:55:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.258[deg]	[grasp_sample.py: 539]
+05/10 17:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:55:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:55:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:55:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:55:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:55:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:55:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:55:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:55:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:55:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.672s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:55:13 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 2.289[deg]	[grasp_sample.py: 539]
+05/10 17:55:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:55:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:55:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:55:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:55:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:55:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:55:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:55:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:51 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:54 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:55:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:55:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:55:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:55:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:55:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:56:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.203s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 17:56:01 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 17:56:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:56:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:56:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:56:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:56:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:56:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072954m	[env.py: 870]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:56:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83051939  0.62145997  0.0729539 ] yaw=-160.9deg	[env.py: 1019]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92384335  1.07285417  0.0729539 ] yaw=-151.5deg	[env.py: 1019]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76812818  0.10182049  0.0729539 ] yaw=148.6deg	[env.py: 1019]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:56:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.2ms, total=225.3ms	[env.py: 1075]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.621, 0.073)	[env.py: 1079]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
+05/10 17:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:56:04 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:56:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:56:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:56:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:56:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:56:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:56:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.464[m] 90.553[deg]	[grasp_sample.py: 539]
+05/10 17:56:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:56:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:56:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:56:15 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:56:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 17:56:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 17:56:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:56:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 17:56:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 17:56:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:56:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:56:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 17:56:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.90s (batch: 3.88s, save: 10.02s)	[pipeline.py: 300]
+05/10 17:56:33 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.86s:
+  episode_total: mean=247.71s, total=247.71s, count=1, min=247713.5ms, max=247713.5ms
+  sensor_polling: mean=516.1ms, total=154.82s, count=300, min=450.4ms, max=914.6ms
+  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10021.2ms, max=10021.2ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=18.8ms, max=49.9ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.4ms, max=3880.4ms
+  task_sampling: mean=3.86s, total=3.86s, count=1, min=3860.2ms, max=3860.2ms
+  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
+  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
+  task_specific_sample: mean=728.9ms, total=728.9ms, count=1, min=728.9ms, max=728.9ms
+  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
+  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
+  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
+  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=635.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:56:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:56:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:56:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:56:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:56:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:56:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028489m	[env.py: 870]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:56:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09827936  1.0376499   0.02848927] yaw=-148.2deg	[env.py: 1019]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:56:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.0ms, total=336.1ms	[env.py: 1075]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.098, 1.038, 0.028)	[env.py: 1079]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
+05/10 17:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:56:35 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:56:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:56:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:56:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:56:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.372s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:56:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 86.607[deg]	[grasp_sample.py: 539]
+05/10 17:56:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:56:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:56:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 17:56:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 4.37s, save: 12.04s)	[pipeline.py: 300]
+05/10 17:56:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:56:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:56:38 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.87s:
+  episode_total: mean=253.79s, total=253.79s, count=1, min=253785.6ms, max=253785.6ms
+  sensor_polling: mean=528.0ms, total=158.39s, count=300, min=458.1ms, max=909.0ms
+  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12041.4ms, max=12041.4ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=18.8ms, max=69.8ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.9ms, max=4365.9ms
+  task_sampling: mean=3.87s, total=3.87s, count=1, min=3869.8ms, max=3869.8ms
+  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
+  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
+  task_specific_sample: mean=795.5ms, total=795.5ms, count=1, min=795.5ms, max=795.5ms
+  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
+  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
+  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
+  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
+  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=578.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=39.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:56:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:56:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:56:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081843m	[env.py: 870]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71870329  0.06497328  0.08184281] yaw=158.7deg	[env.py: 1019]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01619692  1.05900576  0.08184281] yaw=-144.9deg	[env.py: 1019]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83189719  0.82154528  0.08184281] yaw=-167.0deg	[env.py: 1019]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.7ms, total=167.8ms	[env.py: 1075]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.065, 0.082)	[env.py: 1079]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg	[env.py: 1082]
+05/10 17:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:56:41 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:56:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:56:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:56:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:56:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:56:42 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 17:56:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 17:56:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:56:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.319s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:56:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.655[m] 89.741[deg]	[grasp_sample.py: 539]
+05/10 17:56:44 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:56:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:56:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:56:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:56:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:56:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:56:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098587m	[env.py: 870]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:56:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67664378  0.11123131  0.09858703] yaw=151.2deg	[env.py: 1019]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79853059  0.23105954  0.09858703] yaw=154.6deg	[env.py: 1019]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:56:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.6ms	[env.py: 1075]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.111, 0.099)	[env.py: 1079]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.2 deg	[env.py: 1082]
+05/10 17:56:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:56:46 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:56:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:56:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:56:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:56:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:56:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.746s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:56:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.632[m] 87.794[deg]	[grasp_sample.py: 539]
+05/10 17:56:50 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:56:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:56:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:56:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:56:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:56:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:56:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061943m	[env.py: 870]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:56:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01264304  0.82941253  0.06194339] yaw=-151.9deg	[env.py: 1019]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.859553    0.40260025  0.06194339] yaw=170.0deg	[env.py: 1019]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84360722  0.56367516  0.06194339] yaw=-181.0deg	[env.py: 1019]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:56:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.4ms, total=179.4ms	[env.py: 1075]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.829, 0.062)	[env.py: 1079]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg	[env.py: 1082]
+05/10 17:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
+05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:56:52 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:56:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:56:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:56:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:56:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:56:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:56:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.344[m] 86.459[deg]	[grasp_sample.py: 539]
+05/10 17:56:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:56:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:56:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:56:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:56:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 17:56:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.49s (batch: 4.47s, save: 10.02s)	[pipeline.py: 300]
+05/10 17:56:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:56:57 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.60s:
+  episode_total: mean=273.90s, total=273.90s, count=1, min=273904.3ms, max=273904.3ms
+  sensor_polling: mean=528.6ms, total=158.59s, count=300, min=444.5ms, max=942.2ms
+  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10019.0ms, max=10019.0ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.2ms, max=53.6ms
+  task_sampling: mean=4.60s, total=4.60s, count=1, min=4598.7ms, max=4598.7ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4470.5ms, max=4470.5ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
+  task_specific_sample: mean=765.1ms, total=765.1ms, count=1, min=765.1ms, max=765.1ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=429.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=34.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:56:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:56:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:56:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:56:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:56:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:56:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:56:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029534m	[env.py: 870]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:56:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84390957  0.80185654  0.02953442] yaw=-158.1deg	[env.py: 1019]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9737659   1.09163266  0.02953442] yaw=-137.2deg	[env.py: 1019]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:56:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms	[env.py: 1075]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.802, 0.030)	[env.py: 1079]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg	[env.py: 1082]
+05/10 17:56:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:56:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:57:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:57:00 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:57:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:57:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:57:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:57:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:57:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.263s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:57:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.518[m] 92.437[deg]	[grasp_sample.py: 539]
+05/10 17:57:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:57:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:57:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:57:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:57:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:57:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:57:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:57:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:57:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:57:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:57:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:57:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:58:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 17:58:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:58:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:59:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:59:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:59:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:59:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 17:59:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 17:59:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 17:59:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:59:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:59:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:59:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.720s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:59:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.324[deg]	[grasp_sample.py: 539]
+05/10 17:59:18 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 17:59:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:59:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:59:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:59:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:59:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:59:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:59:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:59:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:59:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:59:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028643m	[env.py: 870]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:59:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76701776  0.41372654  0.028643  ] yaw=186.3deg	[env.py: 1019]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:59:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.891129   0.6409341  0.028643 ] yaw=-158.8deg	[env.py: 1019]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64280559  0.68524938  0.028643  ] yaw=-175.0deg	[env.py: 1019]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:59:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=344.3ms, total=344.4ms	[env.py: 1075]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.414, 0.029)	[env.py: 1079]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.3 deg	[env.py: 1082]
+05/10 17:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/10 17:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:59:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:59:21 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:59:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:59:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:59:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:59:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:59:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.224s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:59:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 91.468[deg]	[grasp_sample.py: 539]
+05/10 17:59:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:59:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:59:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:59:23 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 17:59:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 17:59:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 17:59:35 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 17:59:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 17:59:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 17:59:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.03s (batch: 5.08s, save: 8.94s)	[pipeline.py: 300]
+05/10 17:59:38 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.73s:
+  episode_total: mean=215.69s, total=431.39s, count=2, min=213853.3ms, max=217531.9ms
+  sensor_polling: mean=517.2ms, total=294.30s, count=569, min=426.2ms, max=804.4ms
+  physics_step: mean=25.1ms, total=14.31s, count=569, min=17.6ms, max=109.4ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8944.7ms, max=8944.7ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5084.2ms, max=5084.2ms
+  task_sampling: mean=2.37s, total=4.73s, count=2, min=532.7ms, max=4198.2ms
+  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
+  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
+  task_specific_sample: mean=550.5ms, total=1.10s, count=2, min=529.5ms, max=571.4ms
+  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
+  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
+  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
+  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
+  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  scene_randomize: mean=4.5ms, total=8.9ms, count=2, min=1.6ms, max=7.3ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  mj_forward_sync: mean=1.1ms, total=2.2ms, count=2, min=0.5ms, max=1.6ms
+  policy_setup: mean=28.9us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 17:59:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 17:59:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 17:59:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:59:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 17:59:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 17:59:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 17:59:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098611m	[env.py: 870]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 17:59:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87097755  0.39197488  0.09861113] yaw=179.6deg	[env.py: 1019]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89885229  0.26118804  0.09861113] yaw=163.1deg	[env.py: 1019]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98654146  0.71303406  0.09861113] yaw=-160.4deg	[env.py: 1019]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 17:59:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=256.2ms, total=256.3ms	[env.py: 1075]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.392, 0.099)	[env.py: 1079]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.6 deg	[env.py: 1082]
+05/10 17:59:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
+05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 17:59:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 17:59:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 17:59:40 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 17:59:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/10 17:59:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 17:59:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 17:59:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 17:59:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.032s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 17:59:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.409[m] 90.560[deg]	[grasp_sample.py: 539]
+05/10 17:59:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 17:59:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 17:59:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 17:59:46 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:00:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:00:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:00:00 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/10 18:00:11 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:00:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:00:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:00:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:00:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:00:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.69s (batch: 4.47s, save: 10.22s)	[pipeline.py: 300]
+05/10 18:00:15 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.34s:
+  episode_total: mean=70.70s, total=212.10s, count=3, min=3726.0ms, max=204327.6ms
+  sensor_polling: mean=525.5ms, total=151.87s, count=289, min=451.3ms, max=778.8ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10219.1ms, max=10219.1ms
+  physics_step: mean=25.1ms, total=7.26s, count=289, min=16.1ms, max=68.6ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4471.7ms, max=4471.7ms
+  task_sampling: mean=446.8ms, total=1.34s, count=3, min=430.8ms, max=455.3ms
+  task_specific_sample: mean=443.4ms, total=1.33s, count=3, min=428.2ms, max=451.1ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=469.1us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:00:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:00:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:00:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:00:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:00:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:00:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:00:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020791m	[env.py: 870]
+05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:00:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87133104  0.90343635  0.02079084] yaw=-146.2deg	[env.py: 1019]
+05/10 18:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92269707  0.66565586  0.02079084] yaw=-172.9deg	[env.py: 1019]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9436341   0.42249769  0.02079084] yaw=171.4deg	[env.py: 1019]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:00:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.5ms, total=101.5ms	[env.py: 1075]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.903, 0.021)	[env.py: 1079]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.2 deg	[env.py: 1082]
+05/10 18:00:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/10 18:00:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:00:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:00:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:00:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:00:18 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:00:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:00:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:00:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:00:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:00:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:00:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.530[m] 96.765[deg]	[grasp_sample.py: 539]
+05/10 18:00:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:00:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:00:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:00:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:00:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:00:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:00:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.92s (batch: 5.22s, save: 10.70s)	[pipeline.py: 300]
+05/10 18:00:27 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.57s:
+  episode_total: mean=208.16s, total=208.16s, count=1, min=208160.6ms, max=208160.6ms
+  sensor_polling: mean=512.6ms, total=153.77s, count=300, min=450.9ms, max=1009.5ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10700.6ms, max=10700.6ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=18.5ms, max=94.0ms
+  save_batch_prep: mean=5.22s, total=5.22s, count=1, min=5216.9ms, max=5216.9ms
+  task_sampling: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
+  task_specific_sample: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:00:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:00:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:00:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:00:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:00:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:00:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:00:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:00:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081904m	[env.py: 870]
+05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:00:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8897349   0.44533364  0.08190392] yaw=188.6deg	[env.py: 1019]
+05/10 18:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14760809  1.12987597  0.08190392] yaw=-119.9deg	[env.py: 1019]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78035005  0.51002221  0.08190392] yaw=-172.0deg	[env.py: 1019]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:00:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.6ms, total=231.7ms	[env.py: 1075]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.445, 0.082)	[env.py: 1079]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 188.6 deg	[env.py: 1082]
+05/10 18:00:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/10 18:00:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:00:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:00:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:00:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:00:30 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:00:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:00:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:00:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:00:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:00:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:00:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 99.410[deg]	[grasp_sample.py: 539]
+05/10 18:00:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:00:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:00:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:00:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:00:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:00:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:00:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:01:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:01:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:01:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:01:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:01:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:01:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:01:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:01:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:01:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:01:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:01:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:01:43 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:01:43 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.418[deg]	[grasp_sample.py: 539]
+05/10 18:01:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:01:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:01:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:01:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:02:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:02:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:02:19 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:02:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:02:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:02:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:02:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:02:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:02:42 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:02:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.825s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:02:43 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.586[deg]	[grasp_sample.py: 539]
+05/10 18:02:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:02:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:02:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:02:46 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:02:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:02:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:02:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:03:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:03:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:03:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:03:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:03:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:03:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:03:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 5.39s, save: 11.09s)	[pipeline.py: 300]
+05/10 18:03:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:03:03 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.29s:
+  episode_total: mean=193.13s, total=386.26s, count=2, min=163469.5ms, max=222792.6ms
+  sensor_polling: mean=522.9ms, total=295.41s, count=565, min=442.0ms, max=874.0ms
+  physics_step: mean=25.0ms, total=14.11s, count=565, min=18.3ms, max=69.0ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11088.0ms, max=11088.0ms
+  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5385.2ms, max=5385.2ms
+  task_sampling: mean=645.0ms, total=1.29s, count=2, min=620.9ms, max=669.0ms
+  task_specific_sample: mean=639.3ms, total=1.28s, count=2, min=613.8ms, max=664.7ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.8ms, max=2.9ms
+  mj_forward_sync: mean=585.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=22.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:03:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:03:04 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.628[deg]	[grasp_sample.py: 539]
+05/10 18:03:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:03:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:03:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:03:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:03:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:03:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:03:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:03:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:03:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:03:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057254m	[env.py: 870]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:03:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72877017  0.27050068  0.05725375] yaw=165.4deg	[env.py: 1019]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05283478  1.24566073  0.05725375] yaw=-136.9deg	[env.py: 1019]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74012062  0.08893425  0.05725375] yaw=146.8deg	[env.py: 1019]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:03:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.4ms, total=95.5ms	[env.py: 1075]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.271, 0.057)	[env.py: 1079]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
+05/10 18:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:03:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:03:05 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:03:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:03:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:03:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:03:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:03:06 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.565[m] 97.098[deg]	[grasp_sample.py: 539]
+05/10 18:03:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:03:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:03:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:08 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:03:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:03:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:03:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:03:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:03:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:03:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:03:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.104s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:03:21 INFO: [Worker 0] Feasibility-checked 80 grasps in 2.364s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:03:21 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.628[deg]	[grasp_sample.py: 539]
+05/10 18:03:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:03:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:03:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:03:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:03:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:03:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.70s (batch: 4.07s, save: 10.63s)	[pipeline.py: 300]
+05/10 18:03:23 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.53s:
+  episode_total: mean=223.74s, total=223.74s, count=1, min=223738.4ms, max=223738.4ms
+  sensor_polling: mean=528.5ms, total=158.55s, count=300, min=450.9ms, max=983.0ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10626.3ms, max=10626.3ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=15.7ms, max=89.4ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.8ms, max=4071.8ms
+  task_sampling: mean=534.4ms, total=534.4ms, count=1, min=534.4ms, max=534.4ms
+  task_specific_sample: mean=529.1ms, total=529.1ms, count=1, min=529.1ms, max=529.1ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=655.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:03:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:03:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:03:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:03:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:03:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:03:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083966m	[env.py: 870]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:03:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71364363  0.40425663  0.08396626] yaw=176.0deg	[env.py: 1019]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8498132   0.15936157  0.08396626] yaw=164.7deg	[env.py: 1019]
+05/10 18:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7127387   0.73686167  0.08396626] yaw=-176.3deg	[env.py: 1019]
+05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.7ms, total=251.7ms	[env.py: 1075]
+05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.404, 0.084)	[env.py: 1079]
+05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg	[env.py: 1082]
+05/10 18:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/10 18:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:03:26 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:03:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:03:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:03:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:03:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:03:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.240s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:03:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.510[m] 76.315[deg]	[grasp_sample.py: 539]
+05/10 18:03:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:03:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:03:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:29 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:03:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:03:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:03:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:03:38 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 18:03:39 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 18:03:39 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.54s:
+  episode_total: mean=189.16s, total=189.16s, count=1, min=189159.6ms, max=189159.6ms
+  sensor_polling: mean=529.5ms, total=124.44s, count=235, min=449.9ms, max=930.2ms
+  physics_step: mean=25.0ms, total=5.88s, count=235, min=13.5ms, max=65.0ms
+  task_sampling: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
+  task_specific_sample: mean=531.3ms, total=531.3ms, count=1, min=531.3ms, max=531.3ms
+  scene_randomize: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  mj_forward_sync: mean=482.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:03:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:03:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:03:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:03:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:03:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:03:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:03:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:03:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:03:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:03:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018891m	[env.py: 870]
+05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:03:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:03:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96193819  0.75879599  0.01889082] yaw=-159.7deg	[env.py: 1019]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97096644  1.10611809  0.01889082] yaw=-129.3deg	[env.py: 1019]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:03:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=363.7ms, total=363.8ms	[env.py: 1075]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.759, 0.019)	[env.py: 1079]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg	[env.py: 1082]
+05/10 18:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
+05/10 18:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:03:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:03:41 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:03:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:03:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:03:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:03:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:03:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:03:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 101.449[deg]	[grasp_sample.py: 539]
+05/10 18:03:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:03:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:03:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:03:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:03:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:03:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.81s (batch: 4.82s, save: 9.99s)	[pipeline.py: 300]
+05/10 18:03:45 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
+  episode_total: mean=207.34s, total=207.34s, count=1, min=207339.7ms, max=207339.7ms
+  sensor_polling: mean=510.7ms, total=153.20s, count=300, min=441.3ms, max=852.2ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9991.6ms, max=9991.6ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=18.1ms, max=68.0ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4815.4ms, max=4815.4ms
+  task_sampling: mean=467.2ms, total=467.2ms, count=1, min=467.2ms, max=467.2ms
+  task_specific_sample: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=646.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:03:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:03:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:03:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:03:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:03:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:03:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:03:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075855m	[env.py: 870]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95667409  0.25810516  0.07585462] yaw=156.0deg	[env.py: 1019]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75685142  0.65980208  0.07585462] yaw=-167.3deg	[env.py: 1019]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:03:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.0ms, total=258.0ms	[env.py: 1075]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.258, 0.076)	[env.py: 1079]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg	[env.py: 1082]
+05/10 18:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
+05/10 18:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:03:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:03:47 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:03:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:03:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:03:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:03:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:03:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.240s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:03:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.376[m] 104.127[deg]	[grasp_sample.py: 539]
+05/10 18:03:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:03:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:03:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:04:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:04:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:04:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:04:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:04:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:04:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:04:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:04:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:04:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:04:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:04:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:04:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:05:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:05:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:05:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:05:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:05:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:05:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:05:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:05:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:05:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.538[deg]	[grasp_sample.py: 539]
+05/10 18:05:36 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:05:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:05:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:05:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:05:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:05:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:05:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:05:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054508m	[env.py: 870]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:05:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02975878  1.15674543  0.05450836] yaw=-140.8deg	[env.py: 1019]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80355663  0.68283201  0.05450836] yaw=-177.0deg	[env.py: 1019]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8674806   0.57773193  0.05450836] yaw=-168.2deg	[env.py: 1019]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:05:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.5ms, total=153.6ms	[env.py: 1075]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.030, 1.157, 0.055)	[env.py: 1079]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
+05/10 18:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:05:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:05:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:05:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:05:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:05:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:05:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:05:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:05:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.510[m] 85.708[deg]	[grasp_sample.py: 539]
+05/10 18:05:41 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:05:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:05:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:05:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:05:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:05:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:05:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:05:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034262m	[env.py: 870]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:05:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62427414  0.36980578  0.03426181] yaw=175.7deg	[env.py: 1019]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78898383  1.07154827  0.03426181] yaw=-146.9deg	[env.py: 1019]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85054235  0.21425112  0.03426181] yaw=167.7deg	[env.py: 1019]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:05:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.7ms, total=240.7ms	[env.py: 1075]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.370, 0.034)	[env.py: 1079]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg	[env.py: 1082]
+05/10 18:05:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:05:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:05:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:05:43 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:05:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:05:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:05:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:05:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:05:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:05:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.668[m] 100.006[deg]	[grasp_sample.py: 539]
+05/10 18:05:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:05:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:05:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:05:53 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:06:17 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:06:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:06:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:06:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:06:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:06:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:06:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.51s (batch: 4.45s, save: 11.06s)	[pipeline.py: 300]
+05/10 18:06:34 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.44s:
+  episode_total: mean=208.98s, total=208.98s, count=1, min=208979.4ms, max=208979.4ms
+  sensor_polling: mean=516.0ms, total=154.79s, count=300, min=442.4ms, max=1019.5ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11061.9ms, max=11061.9ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=16.4ms, max=64.1ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.2ms, max=4452.2ms
+  task_sampling: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms
+  task_specific_sample: mean=432.9ms, total=432.9ms, count=1, min=432.9ms, max=432.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=693.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=34.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:06:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:06:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:06:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:06:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:06:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:06:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:06:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030489m	[env.py: 870]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:06:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90575212  0.15871317  0.03048856] yaw=157.2deg	[env.py: 1019]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01316688  1.06821953  0.03048856] yaw=-136.7deg	[env.py: 1019]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67068777  0.13113667  0.03048856] yaw=171.2deg	[env.py: 1019]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:06:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=470.9ms, total=470.9ms	[env.py: 1075]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.159, 0.030)	[env.py: 1079]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg	[env.py: 1082]
+05/10 18:06:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:06:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:06:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:06:36 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:06:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:06:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:06:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:06:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:06:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.004s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:06:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.400[m] 84.405[deg]	[grasp_sample.py: 539]
+05/10 18:06:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:06:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:06:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:06:56 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:06:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:06:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:06:59 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:07:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:07:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:07:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:07:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.73s (batch: 4.52s, save: 9.21s)	[pipeline.py: 300]
+05/10 18:07:10 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.68s:
+  episode_total: mean=209.82s, total=209.82s, count=1, min=209824.5ms, max=209824.5ms
+  sensor_polling: mean=517.2ms, total=155.16s, count=300, min=442.2ms, max=925.4ms
+  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9206.1ms, max=9206.1ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=15.3ms, max=69.8ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.0ms, max=4522.0ms
+  task_sampling: mean=675.0ms, total=675.0ms, count=1, min=675.0ms, max=675.0ms
+  task_specific_sample: mean=671.7ms, total=671.7ms, count=1, min=671.7ms, max=671.7ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=409.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:07:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:07:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:07:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:07:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:07:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:07:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:07:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:07:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050515m	[env.py: 870]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:07:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80634651  0.31020594  0.05051479] yaw=161.1deg	[env.py: 1019]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65142662  0.39591575  0.05051479] yaw=186.2deg	[env.py: 1019]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95051527  0.9652761   0.05051479] yaw=-137.9deg	[env.py: 1019]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:07:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.1ms, total=150.2ms	[env.py: 1075]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.310, 0.051)	[env.py: 1079]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg	[env.py: 1082]
+05/10 18:07:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:07:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:07:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:07:12 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:07:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:07:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:07:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:07:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:07:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:07:13 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.469[m] 91.125[deg]	[grasp_sample.py: 539]
+05/10 18:07:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:07:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:07:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:07:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:07:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:07:23 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:07:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:07:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:07:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:07:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:07:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:07:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:07:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.69s (batch: 4.12s, save: 8.57s)	[pipeline.py: 300]
+05/10 18:07:36 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.61s:
+  episode_total: mean=251.00s, total=251.00s, count=1, min=250997.5ms, max=250997.5ms
+  sensor_polling: mean=512.9ms, total=153.88s, count=300, min=449.6ms, max=970.9ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8568.9ms, max=8568.9ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.8ms, max=85.0ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.5ms, max=4123.5ms
+  task_sampling: mean=608.4ms, total=608.4ms, count=1, min=608.4ms, max=608.4ms
+  task_specific_sample: mean=603.6ms, total=603.6ms, count=1, min=603.6ms, max=603.6ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=590.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:07:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:07:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:07:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:07:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:07:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:07:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:07:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098462m	[env.py: 870]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:07:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98098428  1.28315984  0.09846237] yaw=-122.5deg	[env.py: 1019]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:07:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=311.4ms, total=311.4ms	[env.py: 1075]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.283, 0.098)	[env.py: 1079]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -122.5 deg	[env.py: 1082]
+05/10 18:07:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:07:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:07:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:07:38 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:07:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:07:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:07:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:07:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:07:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.729s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 18:07:40 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 18:07:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:07:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:07:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:07:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:07:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:07:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:07:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016369m	[env.py: 870]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:07:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85317905  1.10212424  0.01636906] yaw=-141.9deg	[env.py: 1019]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78270697  0.81568483  0.01636906] yaw=-164.0deg	[env.py: 1019]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81312568  0.03620226  0.01636906] yaw=152.4deg	[env.py: 1019]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:07:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.5ms	[env.py: 1075]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 1.102, 0.016)	[env.py: 1079]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg	[env.py: 1082]
+05/10 18:07:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:07:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:07:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:07:43 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:07:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:07:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:07:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:07:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:07:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.751s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:07:46 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.608[m] 79.034[deg]	[grasp_sample.py: 539]
+05/10 18:07:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:07:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:07:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:08:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:08:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:08:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:08:30 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:08:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:08:55 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:08:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:08:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:08:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:08:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:08:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:08:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:08:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:08:58 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.820s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:08:58 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.143[deg]	[grasp_sample.py: 539]
+05/10 18:09:00 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:09:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:09:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:09:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:09:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:09:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:09:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:09:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:09:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034666m	[env.py: 870]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:09:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80761355  0.47246581  0.03466565] yaw=181.6deg	[env.py: 1019]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83226153  1.0895517   0.03466565] yaw=-142.9deg	[env.py: 1019]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78994328  0.09712097  0.03466565] yaw=148.5deg	[env.py: 1019]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:09:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.1ms, total=277.1ms	[env.py: 1075]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.472, 0.035)	[env.py: 1079]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg	[env.py: 1082]
+05/10 18:09:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:09:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:09:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:09:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:09:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:09:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:09:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:09:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.207s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:09:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.227s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:09:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.482[m] 97.544[deg]	[grasp_sample.py: 539]
+05/10 18:09:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:09:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:09:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:09:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:09:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:09:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:09:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 5.36s, save: 11.05s)	[pipeline.py: 300]
+05/10 18:09:12 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.54s:
+  episode_total: mean=107.36s, total=322.08s, count=3, min=2846.3ms, max=209344.5ms
+  sensor_polling: mean=507.0ms, total=238.81s, count=471, min=439.9ms, max=889.2ms
+  physics_step: mean=25.8ms, total=12.13s, count=471, min=16.2ms, max=89.4ms
+  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11046.4ms, max=11046.4ms
+  save_batch_prep: mean=5.36s, total=5.36s, count=1, min=5362.1ms, max=5362.1ms
+  task_sampling: mean=513.5ms, total=1.54s, count=3, min=426.5ms, max=572.3ms
+  task_specific_sample: mean=510.0ms, total=1.53s, count=3, min=423.3ms, max=568.6ms
+  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=422.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:09:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:09:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:09:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:09:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:09:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:09:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:09:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039203m	[env.py: 870]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:09:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85255681  0.8583814   0.03920265] yaw=-152.1deg	[env.py: 1019]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94283526  0.52132514  0.03920265] yaw=-177.9deg	[env.py: 1019]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79717038  0.65299914  0.03920265] yaw=-164.1deg	[env.py: 1019]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:09:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.5ms, total=116.5ms	[env.py: 1075]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.858, 0.039)	[env.py: 1079]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
+05/10 18:09:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:09:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:09:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:09:14 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:09:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:09:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:09:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:09:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:09:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:09:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.500[m] 89.534[deg]	[grasp_sample.py: 539]
+05/10 18:09:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:09:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:09:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:09:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:10:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:10:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:10:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:10:16 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:10:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:10:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:10:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:10:33 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 18:10:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:10:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:10:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:10:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:10:34 INFO: [Worker 0] Feasibility-checked 68 grasps in 1.588s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 18:10:34 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 18:10:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:10:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:10:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:10:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:10:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:10:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:10:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092690m	[env.py: 870]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:10:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88442039  0.6793782   0.09269017] yaw=-155.7deg	[env.py: 1019]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19762019  1.09839112  0.09269017] yaw=-137.5deg	[env.py: 1019]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82290531  0.29104865  0.09269017] yaw=178.5deg	[env.py: 1019]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:10:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms	[env.py: 1075]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.679, 0.093)	[env.py: 1079]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.7 deg	[env.py: 1082]
+05/10 18:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:10:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:10:37 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:10:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:10:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:10:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:10:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:10:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:10:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.388[m] 86.455[deg]	[grasp_sample.py: 539]
+05/10 18:10:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:10:38 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:10:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:10:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:10:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:10:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:10:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:10:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:10:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.00s (batch: 4.21s, save: 8.79s)	[pipeline.py: 300]
+05/10 18:10:51 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
+  episode_total: mean=219.33s, total=219.33s, count=1, min=219331.9ms, max=219331.9ms
+  sensor_polling: mean=519.6ms, total=155.88s, count=300, min=451.9ms, max=891.4ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8790.9ms, max=8790.9ms
+  physics_step: mean=26.8ms, total=8.03s, count=300, min=16.2ms, max=89.1ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4209.5ms, max=4209.5ms
+  task_sampling: mean=455.6ms, total=455.6ms, count=1, min=455.6ms, max=455.6ms
+  task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=458.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:10:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:10:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:10:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:10:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:10:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:10:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:10:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082164m	[env.py: 870]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:10:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64766612  0.34329165  0.08216399] yaw=172.6deg	[env.py: 1019]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:10:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.3ms, total=237.3ms	[env.py: 1075]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.343, 0.082)	[env.py: 1079]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg	[env.py: 1082]
+05/10 18:10:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:10:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:10:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:10:53 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:10:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:10:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:10:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:10:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:10:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:10:54 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.591[m] 85.656[deg]	[grasp_sample.py: 539]
+05/10 18:10:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:10:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:10:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:11:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:11:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:11:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:11:54 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:12:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:12:02 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:12:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:12:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:12:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:12:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:12:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:12:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:12:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:12:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:12:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:12:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:12:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.45s (batch: 4.66s, save: 8.80s)	[pipeline.py: 300]
+05/10 18:12:37 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.40s:
+  episode_total: mean=179.86s, total=359.71s, count=2, min=143960.8ms, max=215749.7ms
+  sensor_polling: mean=521.7ms, total=270.26s, count=518, min=440.5ms, max=880.3ms
+  physics_step: mean=24.7ms, total=12.80s, count=518, min=15.2ms, max=63.6ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8795.7ms, max=8795.7ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4655.7ms, max=4655.7ms
+  task_sampling: mean=697.8ms, total=1.40s, count=2, min=547.2ms, max=848.4ms
+  task_specific_sample: mean=692.7ms, total=1.39s, count=2, min=542.0ms, max=843.5ms
+  scene_randomize: mean=3.1ms, total=6.2ms, count=2, min=2.8ms, max=3.3ms
+  mj_forward_sync: mean=592.0us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=25.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:12:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:12:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:12:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:12:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:12:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:12:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:12:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024505m	[env.py: 870]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:12:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7267935   0.28411293  0.02450487] yaw=179.3deg	[env.py: 1019]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89600936  0.76819328  0.02450487] yaw=-165.2deg	[env.py: 1019]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87356914  0.74749812  0.02450487] yaw=-154.1deg	[env.py: 1019]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:12:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=139.7ms, total=139.8ms	[env.py: 1075]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.284, 0.025)	[env.py: 1079]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.3 deg	[env.py: 1082]
+05/10 18:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m	[env.py: 1086]
+05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:12:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:12:39 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:12:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:12:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:12:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:12:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:12:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:12:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.571[m] 95.089[deg]	[grasp_sample.py: 539]
+05/10 18:12:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:12:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:12:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:12:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:12:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:12:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.33s (batch: 4.54s, save: 9.78s)	[pipeline.py: 300]
+05/10 18:12:45 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s:
+  episode_total: mean=211.47s, total=211.47s, count=1, min=211470.2ms, max=211470.2ms
+  sensor_polling: mean=518.2ms, total=155.45s, count=300, min=447.5ms, max=953.7ms
+  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9784.4ms, max=9784.4ms
+  physics_step: mean=24.1ms, total=7.24s, count=300, min=18.4ms, max=47.7ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4544.6ms, max=4544.6ms
+  task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
+  task_specific_sample: mean=383.2ms, total=383.2ms, count=1, min=383.2ms, max=383.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=438.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:12:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:12:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:12:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:12:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:12:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:12:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:12:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:12:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:12:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:12:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:12:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054997m	[env.py: 870]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:12:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9716756   0.99335929  0.05499689] yaw=-149.5deg	[env.py: 1019]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70604843  0.38125246  0.05499689] yaw=164.7deg	[env.py: 1019]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95207794  0.56246207  0.05499689] yaw=-166.9deg	[env.py: 1019]
+05/10 18:12:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:12:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.9ms, total=415.9ms	[env.py: 1075]
+05/10 18:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.993, 0.055)	[env.py: 1079]
+05/10 18:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg	[env.py: 1082]
+05/10 18:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/10 18:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:12:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:12:48 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:12:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:12:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:12:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:12:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:12:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:12:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.484[m] 91.929[deg]	[grasp_sample.py: 539]
+05/10 18:12:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:12:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:12:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:13:30 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:13:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:13:50 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:13:53 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:13:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:13:53 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 18:13:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:13:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:13:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:14:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:14:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:14:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:14:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.52s (batch: 4.20s, save: 8.31s)	[pipeline.py: 300]
+05/10 18:14:06 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.63s:
+  episode_total: mean=128.29s, total=384.87s, count=3, min=2466.6ms, max=210047.2ms
+  sensor_polling: mean=525.8ms, total=312.86s, count=595, min=438.8ms, max=1193.3ms
+  physics_step: mean=26.1ms, total=15.54s, count=595, min=16.0ms, max=109.7ms
+  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8314.2ms, max=8314.2ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4204.4ms, max=4204.4ms
+  task_sampling: mean=544.6ms, total=1.63s, count=3, min=490.2ms, max=595.7ms
+  task_specific_sample: mean=541.2ms, total=1.62s, count=3, min=487.3ms, max=592.0ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.4ms, max=2.4ms
+  mj_forward_sync: mean=495.8us, total=1.5ms, count=3, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:14:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:14:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:14:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:14:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:14:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:14:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:14:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079468m	[env.py: 870]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:14:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02339654  0.9790538   0.07946751] yaw=-132.8deg	[env.py: 1019]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:14:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.8ms, total=225.8ms	[env.py: 1075]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 0.979, 0.079)	[env.py: 1079]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg	[env.py: 1082]
+05/10 18:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:14:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:14:08 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:14:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:14:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:14:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:14:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:14:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:14:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.431[m] 91.754[deg]	[grasp_sample.py: 539]
+05/10 18:14:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:14:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:14:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:14:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:14:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:14:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:14:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:14:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:14:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.47s (batch: 4.28s, save: 8.19s)	[pipeline.py: 300]
+05/10 18:14:24 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
+  episode_total: mean=211.39s, total=211.39s, count=1, min=211393.5ms, max=211393.5ms
+  sensor_polling: mean=543.2ms, total=162.97s, count=300, min=439.1ms, max=1076.8ms
+  physics_step: mean=29.6ms, total=8.87s, count=300, min=15.8ms, max=140.7ms
+  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8189.8ms, max=8189.8ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.9ms, max=4276.9ms
+  task_sampling: mean=523.1ms, total=523.1ms, count=1, min=523.1ms, max=523.1ms
+  task_specific_sample: mean=519.6ms, total=519.6ms, count=1, min=519.6ms, max=519.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=436.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:14:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:14:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:14:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:14:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059982m	[env.py: 870]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85145971  0.66191767  0.05998183] yaw=-164.6deg	[env.py: 1019]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01775799  0.95797435  0.05998183] yaw=-150.8deg	[env.py: 1019]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.1ms, total=174.2ms	[env.py: 1075]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.662, 0.060)	[env.py: 1079]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.6 deg	[env.py: 1082]
+05/10 18:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:14:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:14:26 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:14:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:14:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:14:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:14:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.652s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:14:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.427[m] 82.003[deg]	[grasp_sample.py: 539]
+05/10 18:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:14:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:15:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:15:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:15:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:15:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:15:29 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:15:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:15:37 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:15:56 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:15:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:15:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:16:03 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:16:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:16:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:16:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:16:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:16:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.52s (batch: 4.38s, save: 9.13s)	[pipeline.py: 300]
+05/10 18:16:10 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=211.03s, total=211.03s, count=1, min=211027.8ms, max=211027.8ms
+  sensor_polling: mean=521.6ms, total=156.49s, count=300, min=457.6ms, max=1114.7ms
+  save_trajectories: mean=9.13s, total=9.13s, count=1, min=9133.9ms, max=9133.9ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.7ms, max=134.6ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4382.6ms, max=4382.6ms
+  task_sampling: mean=429.8ms, total=429.8ms, count=1, min=429.8ms, max=429.8ms
+  task_specific_sample: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=393.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:16:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:16:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:16:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:16:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:16:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:16:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:16:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097343m	[env.py: 870]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:16:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75896834  0.41220909  0.09734325] yaw=174.1deg	[env.py: 1019]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10478383  1.21847726  0.09734325] yaw=-129.0deg	[env.py: 1019]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73900635  0.06496733  0.09734325] yaw=159.6deg	[env.py: 1019]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:16:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=423.4ms, total=423.4ms	[env.py: 1075]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.412, 0.097)	[env.py: 1079]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.1 deg	[env.py: 1082]
+05/10 18:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:16:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:16:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:16:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:16:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:16:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:16:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:16:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.564s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:16:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.486[m] 87.590[deg]	[grasp_sample.py: 539]
+05/10 18:16:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:16:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:16:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:16:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:16:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:16:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.91s (batch: 4.29s, save: 12.62s)	[pipeline.py: 300]
+05/10 18:16:21 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.74s:
+  episode_total: mean=213.98s, total=213.98s, count=1, min=213981.7ms, max=213981.7ms
+  sensor_polling: mean=519.7ms, total=155.90s, count=300, min=444.6ms, max=942.3ms
+  save_trajectories: mean=12.62s, total=12.62s, count=1, min=12617.2ms, max=12617.2ms
+  physics_step: mean=25.5ms, total=7.65s, count=300, min=18.6ms, max=132.9ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.4ms, max=4293.4ms
+  task_sampling: mean=742.2ms, total=742.2ms, count=1, min=742.2ms, max=742.2ms
+  task_specific_sample: mean=737.7ms, total=737.7ms, count=1, min=737.7ms, max=737.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=528.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:16:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:16:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:16:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:16:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:16:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:16:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:16:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073673m	[env.py: 870]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:16:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65207323  0.27360683  0.07367289] yaw=164.5deg	[env.py: 1019]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93291151  0.95310248  0.07367289] yaw=-153.7deg	[env.py: 1019]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64378631  0.25175625  0.07367289] yaw=178.5deg	[env.py: 1019]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:16:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=155.8ms, total=155.8ms	[env.py: 1075]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.274, 0.074)	[env.py: 1079]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.5 deg	[env.py: 1082]
+05/10 18:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:16:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:16:23 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:16:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:16:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:16:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:16:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:16:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.791s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:16:24 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.633[m] 93.970[deg]	[grasp_sample.py: 539]
+05/10 18:16:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:16:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:16:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:17:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:17:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:17:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:17:20 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:17:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:17:25 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:17:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:17:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:17:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:17:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:17:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:17:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.00s (batch: 4.57s, save: 8.44s)	[pipeline.py: 300]
+05/10 18:17:39 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
+  episode_total: mean=210.85s, total=210.85s, count=1, min=210851.1ms, max=210851.1ms
+  sensor_polling: mean=534.7ms, total=160.42s, count=300, min=438.7ms, max=1102.6ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8435.6ms, max=8435.6ms
+  physics_step: mean=26.5ms, total=7.96s, count=300, min=16.2ms, max=79.6ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4566.6ms, max=4566.6ms
+  task_sampling: mean=524.2ms, total=524.2ms, count=1, min=524.2ms, max=524.2ms
+  task_specific_sample: mean=520.1ms, total=520.1ms, count=1, min=520.1ms, max=520.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:17:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:17:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:17:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:17:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:17:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:17:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:17:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045743m	[env.py: 870]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:17:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97234935  1.2735712   0.04574261] yaw=-127.5deg	[env.py: 1019]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94842868  0.98226963  0.04574261] yaw=-137.3deg	[env.py: 1019]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:17:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.2ms	[env.py: 1075]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.274, 0.046)	[env.py: 1079]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg	[env.py: 1082]
+05/10 18:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:17:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:17:41 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:17:41 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:17:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:17:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:17:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:17:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:17:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.578s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 18:17:43 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 18:17:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:17:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:17:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:17:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:17:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:17:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:17:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:17:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:17:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:17:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:17:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002934m	[env.py: 870]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:17:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01835073  0.91997506  0.00293359] yaw=-149.6deg	[env.py: 1019]
+05/10 18:17:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95194022  0.62305237  0.00293359] yaw=-179.4deg	[env.py: 1019]
+05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:17:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms	[env.py: 1075]
+05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.018, 0.920, 0.003)	[env.py: 1079]
+05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.6 deg	[env.py: 1082]
+05/10 18:17:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/10 18:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:17:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:17:45 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:17:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:17:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:17:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:17:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:17:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:17:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 86.774[deg]	[grasp_sample.py: 539]
+05/10 18:17:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:17:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:17:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:17:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:17:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:17:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:17:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.56s (batch: 4.27s, save: 10.28s)	[pipeline.py: 300]
+05/10 18:17:56 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s:
+  episode_total: mean=210.58s, total=210.58s, count=1, min=210579.4ms, max=210579.4ms
+  sensor_polling: mean=534.8ms, total=160.45s, count=300, min=436.5ms, max=927.5ms
+  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10283.3ms, max=10283.3ms
+  physics_step: mean=26.1ms, total=7.83s, count=300, min=16.7ms, max=140.4ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4274.3ms, max=4274.3ms
+  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
+  task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=417.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:17:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:17:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:17:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:17:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:17:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:17:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:17:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068430m	[env.py: 870]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:17:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94273959  1.22523127  0.06843   ] yaw=-141.3deg	[env.py: 1019]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99422225  0.17772348  0.06843   ] yaw=148.4deg	[env.py: 1019]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:17:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=163.2ms, total=163.2ms	[env.py: 1075]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.225, 0.068)	[env.py: 1079]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
+05/10 18:17:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:17:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:17:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:17:59 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:17:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:17:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:17:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:17:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:18:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.857s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:18:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.654[m] 94.972[deg]	[grasp_sample.py: 539]
+05/10 18:18:02 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:18:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:18:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:18:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:18:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:18:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038993m	[env.py: 870]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88463768  0.3593357   0.03899292] yaw=181.9deg	[env.py: 1019]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8312515   0.39758058  0.03899292] yaw=178.5deg	[env.py: 1019]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14670907  1.16207746  0.03899292] yaw=-124.2deg	[env.py: 1019]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms	[env.py: 1075]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.359, 0.039)	[env.py: 1079]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg	[env.py: 1082]
+05/10 18:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:18:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:18:04 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:18:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:18:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:18:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:18:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:18:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:18:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.418[m] 93.326[deg]	[grasp_sample.py: 539]
+05/10 18:18:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:18:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:18:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:18:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:18:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:18:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:18:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:18:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:18:25 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.145s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:18:25 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.322[deg]	[grasp_sample.py: 539]
+05/10 18:18:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:18:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:18:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:18:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:18:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:18:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:18:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:18:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:18:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:18:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:19:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:19:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:19:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:19:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:19:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.965s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:19:01 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.379[deg]	[grasp_sample.py: 539]
+05/10 18:19:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:19:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:19:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:19:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:19:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:19:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:19:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:19:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:19:12 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.675s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:19:12 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.863[deg]	[grasp_sample.py: 539]
+05/10 18:19:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:19:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:19:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:19:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:19:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:19:19 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:19:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:19:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:46 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:19:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:19:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:19:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:19:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:19:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:19:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:19:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:19:56 INFO: [Worker 0] Feasibility-checked 68 grasps in 3.818s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:19:56 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.415[deg]	[grasp_sample.py: 539]
+05/10 18:19:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:19:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:19:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:19:59 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 18:19:59 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=False episode_total=0.58s:
+  episode_total: mean=216.24s, total=216.24s, count=1, min=216236.3ms, max=216236.3ms
+  sensor_polling: mean=528.0ms, total=158.41s, count=300, min=449.5ms, max=1013.4ms
+  physics_step: mean=24.8ms, total=7.44s, count=300, min=15.3ms, max=91.5ms
+  task_sampling: mean=583.0ms, total=583.0ms, count=1, min=583.0ms, max=583.0ms
+  task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=643.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:19:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:19:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:19:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.33s (batch: 4.39s, save: 8.94s)	[pipeline.py: 300]
+05/10 18:20:00 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.75s:
+  episode_total: mean=227.35s, total=227.35s, count=1, min=227349.5ms, max=227349.5ms
+  sensor_polling: mean=525.2ms, total=157.55s, count=300, min=451.3ms, max=1082.6ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8938.2ms, max=8938.2ms
+  physics_step: mean=24.4ms, total=7.31s, count=300, min=17.6ms, max=76.9ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4388.6ms, max=4388.6ms
+  task_sampling: mean=750.2ms, total=750.2ms, count=1, min=750.2ms, max=750.2ms
+  task_specific_sample: mean=740.0ms, total=740.0ms, count=1, min=740.0ms, max=740.0ms
+  scene_randomize: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=651.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=26.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:20:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:20:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:20:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:20:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:20:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:20:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:20:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077890m	[env.py: 870]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:20:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93791047  1.03131512  0.07789031] yaw=-135.4deg	[env.py: 1019]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70608097  0.5469937   0.07789031] yaw=-172.4deg	[env.py: 1019]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62843384  0.46386394  0.07789031] yaw=187.1deg	[env.py: 1019]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:20:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms	[env.py: 1075]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 1.031, 0.078)	[env.py: 1079]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.4 deg	[env.py: 1082]
+05/10 18:20:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:20:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:20:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:20:01 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:20:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:20:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:20:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:20:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:20:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:20:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:20:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:20:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:20:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:20:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:20:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051252m	[env.py: 870]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:20:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73656483  0.07149442  0.05125223] yaw=151.1deg	[env.py: 1019]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09707554  1.12186884  0.05125223] yaw=-124.9deg	[env.py: 1019]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88308184  0.28698147  0.05125223] yaw=156.2deg	[env.py: 1019]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:20:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.3ms, total=113.4ms	[env.py: 1075]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.071, 0.051)	[env.py: 1079]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 151.1 deg	[env.py: 1082]
+05/10 18:20:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
+05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:20:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:20:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:20:02 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:20:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:20:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:20:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:20:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:20:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:20:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:20:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 98.243[deg]	[grasp_sample.py: 539]
+05/10 18:20:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:20:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:20:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:20:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:20:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.627[m] 96.400[deg]	[grasp_sample.py: 539]
+05/10 18:20:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:20:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:20:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:20:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:20:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:20:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:20:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:20:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:20:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.440s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:20:18 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.456[deg]	[grasp_sample.py: 539]
+05/10 18:20:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:20:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:20:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:20:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:20:34 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:20:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:20:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:20:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:20:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:20:57 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/10 18:20:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:21:07 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:21:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:21:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:21:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:21:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.32s (batch: 4.34s, save: 8.98s)	[pipeline.py: 300]
+05/10 18:21:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:21:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
+  episode_total: mean=104.44s, total=208.89s, count=2, min=2215.1ms, max=206671.5ms
+  sensor_polling: mean=538.1ms, total=156.58s, count=291, min=441.6ms, max=954.3ms
+  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.4ms, max=8981.4ms
+  physics_step: mean=27.4ms, total=7.97s, count=291, min=16.2ms, max=111.2ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4339.5ms, max=4339.5ms
+  task_sampling: mean=461.6ms, total=923.3ms, count=2, min=427.0ms, max=496.3ms
+  task_specific_sample: mean=458.0ms, total=916.1ms, count=2, min=424.1ms, max=492.0ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=469.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:21:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:21:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:21:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:21:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:21:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:21:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:21:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072717m	[env.py: 870]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:21:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80409753  1.03842379  0.0727171 ] yaw=-139.7deg	[env.py: 1019]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11998763  1.00346928  0.0727171 ] yaw=-144.4deg	[env.py: 1019]
+05/10 18:21:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:21:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms	[env.py: 1075]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.804, 1.038, 0.073)	[env.py: 1079]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg	[env.py: 1082]
+05/10 18:21:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:21:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:21:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:21:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:21:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:21:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:21:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:21:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:21:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.967s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:21:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.662[m] 92.050[deg]	[grasp_sample.py: 539]
+05/10 18:21:18 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:21:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:21:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:21:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:21:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:21:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:21:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:21:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019422m	[env.py: 870]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:21:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64190896  0.48083145  0.01942239] yaw=175.2deg	[env.py: 1019]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87469711  0.56078347  0.01942239] yaw=-168.5deg	[env.py: 1019]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77516335  0.44285095  0.01942239] yaw=169.6deg	[env.py: 1019]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:21:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.4ms, total=133.5ms	[env.py: 1075]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.481, 0.019)	[env.py: 1079]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg	[env.py: 1082]
+05/10 18:21:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:21:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:21:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:21:21 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:21:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:21:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:21:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:21:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:21:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:21:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.640[m] 99.226[deg]	[grasp_sample.py: 539]
+05/10 18:21:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:21:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:21:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:21:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:21:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:21:32 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:21:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:21:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:21:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:21:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:21:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.88s (batch: 4.38s, save: 11.50s)	[pipeline.py: 300]
+05/10 18:21:49 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.92s:
+  episode_total: mean=114.31s, total=228.63s, count=2, min=3729.9ms, max=224898.2ms
+  sensor_polling: mean=527.7ms, total=158.30s, count=300, min=452.5ms, max=899.0ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11499.6ms, max=11499.6ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=15.5ms, max=92.4ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.6ms, max=4384.6ms
+  task_sampling: mean=461.5ms, total=923.1ms, count=2, min=429.3ms, max=493.8ms
+  task_specific_sample: mean=457.2ms, total=914.4ms, count=2, min=425.5ms, max=488.9ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.6ms, max=3.3ms
+  mj_forward_sync: mean=611.5us, total=1.2ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:21:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:21:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:21:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:21:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:21:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:21:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:21:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075222m	[env.py: 870]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:21:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64104565  0.36985713  0.07522244] yaw=169.8deg	[env.py: 1019]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73384642  0.92436935  0.07522244] yaw=-148.0deg	[env.py: 1019]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99412053  0.84325952  0.07522244] yaw=-161.5deg	[env.py: 1019]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:21:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.6ms, total=238.6ms	[env.py: 1075]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.370, 0.075)	[env.py: 1079]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
+05/10 18:21:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:21:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:21:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:21:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:21:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.274s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:21:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:21:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:21:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:21:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.308s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:21:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.587[m] 86.633[deg]	[grasp_sample.py: 539]
+05/10 18:21:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:21:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:21:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:22:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:22:48 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:22:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:22:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:22:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:22:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:23:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:23:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:23:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:23:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:23:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:23:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:23:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:23:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:23:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:23:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.505s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:23:04 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.311[deg]	[grasp_sample.py: 539]
+05/10 18:23:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:23:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:23:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:23:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:23:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:23:11 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:23:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:23:17 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:23:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:23:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:23:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:23:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:23:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 15.84s (batch: 4.52s, save: 11.31s)	[pipeline.py: 300]
+05/10 18:23:33 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s:
+  episode_total: mean=212.68s, total=212.68s, count=1, min=212682.4ms, max=212682.4ms
+  sensor_polling: mean=513.0ms, total=153.91s, count=300, min=434.2ms, max=1001.7ms
+  save_trajectories: mean=11.31s, total=11.31s, count=1, min=11314.4ms, max=11314.4ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.7ms, max=91.2ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4524.7ms, max=4524.7ms
+  task_sampling: mean=449.8ms, total=449.8ms, count=1, min=449.8ms, max=449.8ms
+  task_specific_sample: mean=446.1ms, total=446.1ms, count=1, min=446.1ms, max=446.1ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=415.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:23:35 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:23:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:23:35 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:23:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:23:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:23:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:23:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:23:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:23:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:23:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096006m	[env.py: 870]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:23:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82558658  1.01707047  0.0960055 ] yaw=-144.3deg	[env.py: 1019]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68222768  0.25559594  0.0960055 ] yaw=169.3deg	[env.py: 1019]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91870825  0.32265661  0.0960055 ] yaw=161.7deg	[env.py: 1019]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:23:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms	[env.py: 1075]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.826, 1.017, 0.096)	[env.py: 1079]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg	[env.py: 1082]
+05/10 18:23:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:23:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:23:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:23:36 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:23:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:23:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:23:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:23:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:23:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:23:37 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.571[m] 82.236[deg]	[grasp_sample.py: 539]
+05/10 18:23:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:23:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:23:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:23:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:23:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:23:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.11s (batch: 4.28s, save: 8.83s)	[pipeline.py: 300]
+05/10 18:23:49 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s:
+  episode_total: mean=226.97s, total=226.97s, count=1, min=226966.2ms, max=226966.2ms
+  sensor_polling: mean=527.0ms, total=158.09s, count=300, min=449.0ms, max=1155.7ms
+  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8828.1ms, max=8828.1ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=14.7ms, max=100.5ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.6ms, max=4283.6ms
+  task_sampling: mean=443.4ms, total=443.4ms, count=1, min=443.4ms, max=443.4ms
+  task_specific_sample: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=608.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:23:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:23:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:23:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:23:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:23:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:23:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:23:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003716m	[env.py: 870]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:23:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70310945  0.86830829  0.00371572] yaw=-153.1deg	[env.py: 1019]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94609299  0.9226251   0.00371572] yaw=-139.5deg	[env.py: 1019]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93739037  1.15726232  0.00371572] yaw=-129.8deg	[env.py: 1019]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:23:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.6ms, total=152.7ms	[env.py: 1075]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.703, 0.868, 0.004)	[env.py: 1079]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg	[env.py: 1082]
+05/10 18:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:23:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:23:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:23:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:23:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:23:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:23:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:23:52 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.600s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:23:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.691[m] 98.743[deg]	[grasp_sample.py: 539]
+05/10 18:23:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:23:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:23:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:24:13 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:24:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:24:38 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:24:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:24:38 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:24:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:24:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:24:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:24:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:24:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.84s (batch: 4.80s, save: 9.04s)	[pipeline.py: 300]
+05/10 18:24:52 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.98s:
+  episode_total: mean=108.74s, total=217.47s, count=2, min=5730.7ms, max=211739.9ms
+  sensor_polling: mean=531.1ms, total=159.34s, count=300, min=442.0ms, max=1296.6ms
+  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9043.4ms, max=9043.4ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=17.9ms, max=119.2ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4796.3ms, max=4796.3ms
+  task_sampling: mean=492.2ms, total=984.4ms, count=2, min=478.9ms, max=505.5ms
+  task_specific_sample: mean=488.5ms, total=977.1ms, count=2, min=475.6ms, max=501.5ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=473.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:24:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:24:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:24:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:24:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:24:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035939m	[env.py: 870]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82148294  0.54387956  0.03593932] yaw=-181.9deg	[env.py: 1019]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90453997  0.25251471  0.03593932] yaw=160.0deg	[env.py: 1019]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82787093  0.8550738   0.03593932] yaw=-166.1deg	[env.py: 1019]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:24:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=177.3ms, total=177.3ms	[env.py: 1075]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.544, 0.036)	[env.py: 1079]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -181.9 deg	[env.py: 1082]
+05/10 18:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:24:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:24:55 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:24:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:24:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.936s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:24:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.548[deg]	[grasp_sample.py: 539]
+05/10 18:24:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:24:56 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:24:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:24:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:25:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:25:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:25:21 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:25:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:25:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:25:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:25:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:25:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:25:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 4.34s, save: 12.13s)	[pipeline.py: 300]
+05/10 18:25:39 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s:
+  episode_total: mean=227.57s, total=227.57s, count=1, min=227569.9ms, max=227569.9ms
+  sensor_polling: mean=524.8ms, total=157.43s, count=300, min=447.2ms, max=912.4ms
+  save_trajectories: mean=12.13s, total=12.13s, count=1, min=12131.2ms, max=12131.2ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=18.9ms, max=85.0ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4341.2ms, max=4341.2ms
+  task_sampling: mean=543.4ms, total=543.4ms, count=1, min=543.4ms, max=543.4ms
+  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=550.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:25:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:25:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:25:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:25:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:25:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:25:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:25:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060104m	[env.py: 870]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:25:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18248766  1.04491582  0.06010427] yaw=-126.6deg	[env.py: 1019]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09884392  1.12320773  0.06010427] yaw=-132.3deg	[env.py: 1019]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84170569  0.6505663   0.06010427] yaw=-173.8deg	[env.py: 1019]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.8ms, total=96.9ms	[env.py: 1075]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.045, 0.060)	[env.py: 1079]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg	[env.py: 1082]
+05/10 18:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:25:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:25:41 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:25:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:25:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.307[m] 85.220[deg]	[grasp_sample.py: 539]
+05/10 18:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:25:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:25:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:26:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:26:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:26:23 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:26:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:26:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:26:39 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:26:50 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:26:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:26:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:27:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:27:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:27:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:27:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:27:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:27:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.06s (batch: 4.32s, save: 8.74s)	[pipeline.py: 300]
+05/10 18:27:04 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
+  episode_total: mean=208.89s, total=208.89s, count=1, min=208894.6ms, max=208894.6ms
+  sensor_polling: mean=514.2ms, total=154.27s, count=300, min=441.5ms, max=873.2ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8738.9ms, max=8738.9ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.8ms, max=72.0ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4322.3ms, max=4322.3ms
+  task_sampling: mean=508.4ms, total=508.4ms, count=1, min=508.4ms, max=508.4ms
+  task_specific_sample: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=419.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:27:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:27:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:27:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:27:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:27:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:27:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:27:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075829m	[env.py: 870]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:27:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02618609  1.19906698  0.07582945] yaw=-141.3deg	[env.py: 1019]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74269091  0.1592268   0.07582945] yaw=155.6deg	[env.py: 1019]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:27:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.5ms, total=181.6ms	[env.py: 1075]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.199, 0.076)	[env.py: 1079]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg	[env.py: 1082]
+05/10 18:27:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:27:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:27:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:27:06 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:27:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:27:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:27:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:27:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:27:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:27:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.574[m] 86.801[deg]	[grasp_sample.py: 539]
+05/10 18:27:09 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:27:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:27:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:27:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:27:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:27:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:27:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:27:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024870m	[env.py: 870]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:27:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83286312  0.18988912  0.02486981] yaw=164.8deg	[env.py: 1019]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88542476  0.93948386  0.02486981] yaw=-155.2deg	[env.py: 1019]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95863129  1.18170033  0.02486981] yaw=-125.9deg	[env.py: 1019]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:27:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.0ms, total=112.0ms	[env.py: 1075]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.190, 0.025)	[env.py: 1079]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.8 deg	[env.py: 1082]
+05/10 18:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:27:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:27:11 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:27:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:27:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:27:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:27:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:27:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:27:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.443[m] 86.661[deg]	[grasp_sample.py: 539]
+05/10 18:27:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:27:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:27:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:27:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:27:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:27:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.51s (batch: 4.07s, save: 9.44s)	[pipeline.py: 300]
+05/10 18:27:14 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.45s:
+  episode_total: mean=203.46s, total=203.46s, count=1, min=203464.1ms, max=203464.1ms
+  sensor_polling: mean=516.7ms, total=155.01s, count=300, min=440.4ms, max=823.1ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9442.8ms, max=9442.8ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=16.2ms, max=69.1ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.7ms, max=4071.7ms
+  task_sampling: mean=454.4ms, total=454.4ms, count=1, min=454.4ms, max=454.4ms
+  task_specific_sample: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=448.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:27:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:27:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:27:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:27:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088182m	[env.py: 870]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79328662  0.31637843  0.08818196] yaw=175.8deg	[env.py: 1019]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87625644  1.01621028  0.08818196] yaw=-137.4deg	[env.py: 1019]
+05/10 18:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98497724  0.96067277  0.08818196] yaw=-135.5deg	[env.py: 1019]
+05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:27:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.1ms	[env.py: 1075]
+05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.316, 0.088)	[env.py: 1079]
+05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg	[env.py: 1082]
+05/10 18:27:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/10 18:27:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:27:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:27:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:27:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:27:16 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:27:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:27:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:27:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:27:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:27:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:27:17 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.512[m] 92.084[deg]	[grasp_sample.py: 539]
+05/10 18:27:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:27:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:27:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:27:45 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:27:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:28:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:28:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:28:12 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:28:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:28:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:28:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:28:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:28:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:28:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:28:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:28:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:28:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:28:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:28:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]	[grasp_sample.py: 539]
+05/10 18:28:18 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:28:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:28:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:28:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:28:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039647m	[env.py: 870]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02016365  0.90423889  0.03964739] yaw=-155.0deg	[env.py: 1019]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78144903  0.82750756  0.03964739] yaw=-168.7deg	[env.py: 1019]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82113173  0.62159758  0.03964739] yaw=-174.8deg	[env.py: 1019]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.1ms	[env.py: 1075]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.904, 0.040)	[env.py: 1079]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.0 deg	[env.py: 1082]
+05/10 18:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m	[env.py: 1086]
+05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:28:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:28:20 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:28:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:28:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:28:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:28:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:28:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:28:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.357[m] 82.190[deg]	[grasp_sample.py: 539]
+05/10 18:28:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:28:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:28:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:28:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:28:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:28:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:28:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.79s (batch: 5.03s, save: 8.76s)	[pipeline.py: 300]
+05/10 18:28:27 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
+  episode_total: mean=212.65s, total=212.65s, count=1, min=212655.0ms, max=212655.0ms
+  sensor_polling: mean=523.9ms, total=157.18s, count=300, min=443.2ms, max=944.8ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8763.4ms, max=8763.4ms
+  physics_step: mean=25.2ms, total=7.57s, count=300, min=18.9ms, max=56.8ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5028.7ms, max=5028.7ms
+  task_sampling: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
+  task_specific_sample: mean=500.4ms, total=500.4ms, count=1, min=500.4ms, max=500.4ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=512.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:28:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:28:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:28:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:28:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:28:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:28:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:28:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:28:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:28:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010712m	[env.py: 870]
+05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:28:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93041884  0.95732258  0.01071194] yaw=-147.1deg	[env.py: 1019]
+05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89331646  0.68459125  0.01071194] yaw=-175.3deg	[env.py: 1019]
+05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:28:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=294.6ms, total=294.6ms	[env.py: 1075]
+05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.957, 0.011)	[env.py: 1079]
+05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg	[env.py: 1082]
+05/10 18:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/10 18:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:28:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:28:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:28:29 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:28:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:28:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:28:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:28:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:28:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.788s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:28:31 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.502[m] 80.868[deg]	[grasp_sample.py: 539]
+05/10 18:28:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:28:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:28:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:28:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:29:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:29:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:29:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:29:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:29:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:29:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:29:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:29:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:29:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:29:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:29:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:29:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:29:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.636[deg]	[grasp_sample.py: 539]
+05/10 18:29:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:29:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:29:57 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.802[deg]	[grasp_sample.py: 539]
+05/10 18:29:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:29:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:29:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:29:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:29:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:29:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:29:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:29:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:29:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:29:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:29:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:29:59 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.365s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:29:59 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.614[deg]	[grasp_sample.py: 539]
+05/10 18:29:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:30:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:30:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:30:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:30:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:30:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:30:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:30:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:30:20 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:30:20 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:30:41 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:30:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:30:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:30:42 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:30:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:30:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:30:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:30:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:30:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 13.61s (batch: 4.18s, save: 9.43s)	[pipeline.py: 300]
+05/10 18:30:55 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
+  episode_total: mean=219.50s, total=219.50s, count=1, min=219503.2ms, max=219503.2ms
+  sensor_polling: mean=523.6ms, total=157.09s, count=300, min=447.1ms, max=1200.9ms
+  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9431.3ms, max=9431.3ms
+  physics_step: mean=26.2ms, total=7.87s, count=300, min=15.4ms, max=106.4ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.0ms, max=4180.0ms
+  task_sampling: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
+  task_specific_sample: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:30:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:30:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:30:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.28s (batch: 4.26s, save: 10.01s)	[pipeline.py: 300]
+05/10 18:30:57 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s:
+  episode_total: mean=114.75s, total=229.49s, count=2, min=3081.0ms, max=226413.7ms
+  sensor_polling: mean=521.1ms, total=156.33s, count=300, min=444.4ms, max=1305.6ms
+  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10013.7ms, max=10013.7ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=14.1ms, max=122.5ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4261.4ms, max=4261.4ms
+  task_sampling: mean=425.4ms, total=850.7ms, count=2, min=362.2ms, max=488.6ms
+  task_specific_sample: mean=422.0ms, total=844.1ms, count=2, min=359.2ms, max=484.9ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=404.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:30:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:30:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:30:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:30:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:30:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:30:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:30:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000017m	[env.py: 870]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:30:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11444047e+00  1.11622486e+00  1.74444103e-05] yaw=-136.3deg	[env.py: 1019]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.93833133e-01  1.14634233e+00  1.74444103e-05] yaw=-136.7deg	[env.py: 1019]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.88718312e-01  1.01129296e+00  1.74444103e-05] yaw=-160.6deg	[env.py: 1019]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:30:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=410.6ms, total=410.6ms	[env.py: 1075]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.114, 1.116, 0.000)	[env.py: 1079]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg	[env.py: 1082]
+05/10 18:30:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:30:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:30:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:30:58 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:30:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:30:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:30:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:30:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:30:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:30:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.476[m] 92.044[deg]	[grasp_sample.py: 539]
+05/10 18:30:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:30:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:30:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:30:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:30:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:30:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:30:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:30:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000533m	[env.py: 870]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:30:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.32542992e-01  3.56547225e-01  5.32749062e-04] yaw=183.6deg	[env.py: 1019]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.20997937e-01  7.33108986e-01  5.32749062e-04] yaw=-170.1deg	[env.py: 1019]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.61931662e-01  1.01785357e+00  5.32749062e-04] yaw=-153.6deg	[env.py: 1019]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:30:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.9ms, total=171.9ms	[env.py: 1075]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.357, 0.001)	[env.py: 1079]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg	[env.py: 1082]
+05/10 18:30:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:30:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:30:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:30:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:30:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:30:59 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:30:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:30:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:30:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:30:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:31:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:31:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.634[m] 85.206[deg]	[grasp_sample.py: 539]
+05/10 18:31:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:31:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:31:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:31:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:31:16 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:31:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:31:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:31:30 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 18:31:44 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:31:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:31:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:31:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:31:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:31:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.06s (batch: 4.58s, save: 9.48s)	[pipeline.py: 300]
+05/10 18:31:45 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
+  episode_total: mean=181.41s, total=362.83s, count=2, min=156899.0ms, max=205926.9ms
+  sensor_polling: mean=512.4ms, total=278.25s, count=543, min=431.9ms, max=1330.4ms
+  physics_step: mean=25.1ms, total=13.65s, count=543, min=14.3ms, max=74.6ms
+  save_trajectories: mean=9.48s, total=9.48s, count=1, min=9480.3ms, max=9480.3ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4581.1ms, max=4581.1ms
+  task_sampling: mean=411.0ms, total=822.0ms, count=2, min=393.7ms, max=428.4ms
+  task_specific_sample: mean=407.0ms, total=814.1ms, count=2, min=389.7ms, max=424.3ms
+  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.0ms, max=2.6ms
+  mj_forward_sync: mean=429.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:31:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:31:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:31:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:31:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:31:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:31:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:31:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018289m	[env.py: 870]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:31:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72948014  0.29563262  0.01828905] yaw=173.0deg	[env.py: 1019]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91788805  0.86952399  0.01828905] yaw=-157.9deg	[env.py: 1019]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91773915  0.4636248   0.01828905] yaw=179.0deg	[env.py: 1019]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:31:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.6ms, total=156.7ms	[env.py: 1075]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.296, 0.018)	[env.py: 1079]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg	[env.py: 1082]
+05/10 18:31:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:31:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:31:47 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:31:47 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:31:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:31:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:31:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:31:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:31:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:31:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.505[m] 80.734[deg]	[grasp_sample.py: 539]
+05/10 18:31:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:31:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:31:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:31:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:32:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:32:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:32:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 16.32s (batch: 4.83s, save: 11.49s)	[pipeline.py: 300]
+05/10 18:32:01 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.60s:
+  episode_total: mean=212.60s, total=212.60s, count=1, min=212599.7ms, max=212599.7ms
+  sensor_polling: mean=514.9ms, total=154.46s, count=300, min=438.6ms, max=1121.5ms
+  save_trajectories: mean=11.49s, total=11.49s, count=1, min=11493.7ms, max=11493.7ms
+  physics_step: mean=25.1ms, total=7.52s, count=300, min=16.3ms, max=77.4ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4829.2ms, max=4829.2ms
+  task_sampling: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms
+  task_specific_sample: mean=599.8ms, total=599.8ms, count=1, min=599.8ms, max=599.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=401.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:32:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:32:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:32:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:32:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:32:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:32:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:32:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:32:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010441m	[env.py: 870]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:32:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92512348  0.62870478  0.01044149] yaw=-174.4deg	[env.py: 1019]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00633188  0.83874641  0.01044149] yaw=-146.7deg	[env.py: 1019]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03949257  1.31320479  0.01044149] yaw=-139.7deg	[env.py: 1019]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:32:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms	[env.py: 1075]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.629, 0.010)	[env.py: 1079]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg	[env.py: 1082]
+05/10 18:32:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:32:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:32:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:32:04 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:32:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:32:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:32:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:32:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:32:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:32:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.404[m] 97.288[deg]	[grasp_sample.py: 539]
+05/10 18:32:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:32:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:32:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:32:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:32:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:32:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:32:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:32:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:32:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:32:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:33:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:33:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:33:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:33:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:33:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:33:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:33:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:33:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:33:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:33:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:33:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:33:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:33:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.309[deg]	[grasp_sample.py: 539]
+05/10 18:33:35 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:33:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:33:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:33:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:33:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:33:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:33:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:33:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058718m	[env.py: 870]
+05/10 18:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:33:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75316236  0.09261206  0.05871826] yaw=167.0deg	[env.py: 1019]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90305874  1.0527639   0.05871826] yaw=-134.5deg	[env.py: 1019]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:33:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=170.0ms	[env.py: 1075]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.093, 0.059)	[env.py: 1079]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg	[env.py: 1082]
+05/10 18:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/10 18:33:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:33:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:33:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:33:37 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:33:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:33:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:33:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:33:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:33:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:33:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.539[m] 81.544[deg]	[grasp_sample.py: 539]
+05/10 18:33:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:33:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:33:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:33:45 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:34:05 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:34:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:34:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:34:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:34:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:34:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.92s (batch: 3.66s, save: 9.27s)	[pipeline.py: 300]
+05/10 18:34:19 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.51s:
+  episode_total: mean=199.93s, total=199.93s, count=1, min=199925.1ms, max=199925.1ms
+  sensor_polling: mean=511.6ms, total=153.49s, count=300, min=427.8ms, max=1108.8ms
+  save_trajectories: mean=9.27s, total=9.27s, count=1, min=9267.1ms, max=9267.1ms
+  physics_step: mean=25.0ms, total=7.51s, count=300, min=16.4ms, max=94.3ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3656.5ms, max=3656.5ms
+  task_sampling: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
+  task_specific_sample: mean=500.5ms, total=500.5ms, count=1, min=500.5ms, max=500.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=604.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:34:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:34:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:34:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:34:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:34:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:34:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:34:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:34:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:34:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043458m	[env.py: 870]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:34:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83839389  0.81468619  0.04345839] yaw=-154.4deg	[env.py: 1019]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6119678   0.3831289   0.04345839] yaw=180.2deg	[env.py: 1019]
+05/10 18:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11991333  1.20904951  0.04345839] yaw=-136.4deg	[env.py: 1019]
+05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:34:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.1ms, total=151.1ms	[env.py: 1075]
+05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.815, 0.043)	[env.py: 1079]
+05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.4 deg	[env.py: 1082]
+05/10 18:34:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/10 18:34:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:34:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:34:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:34:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:34:21 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:34:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:34:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:34:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:34:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:34:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:34:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.513[m] 96.432[deg]	[grasp_sample.py: 539]
+05/10 18:34:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:34:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:34:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:34:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:34:33 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:34:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:34:43 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:34:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:34:59 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:34:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:34:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:35:06 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:35:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:35:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:35:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:35:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:35:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.63s (batch: 3.83s, save: 8.80s)	[pipeline.py: 300]
+05/10 18:35:12 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
+  episode_total: mean=205.44s, total=205.44s, count=1, min=205436.1ms, max=205436.1ms
+  sensor_polling: mean=498.1ms, total=149.42s, count=300, min=392.1ms, max=825.3ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8802.3ms, max=8802.3ms
+  physics_step: mean=25.0ms, total=7.50s, count=300, min=15.2ms, max=93.1ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3828.7ms, max=3828.7ms
+  task_sampling: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms
+  task_specific_sample: mean=483.9ms, total=483.9ms, count=1, min=483.9ms, max=483.9ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=649.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:35:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:35:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:35:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:35:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:35:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:35:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:35:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:35:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077791m	[env.py: 870]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:35:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67987151  0.57744211  0.077791  ] yaw=-185.0deg	[env.py: 1019]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06018167  1.07918455  0.077791  ] yaw=-146.3deg	[env.py: 1019]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71930994  0.6029005   0.077791  ] yaw=-177.5deg	[env.py: 1019]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:35:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms	[env.py: 1075]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.577, 0.078)	[env.py: 1079]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.0 deg	[env.py: 1082]
+05/10 18:35:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:35:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:35:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:35:15 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:35:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:35:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:35:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:35:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:35:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:35:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.612[m] 98.253[deg]	[grasp_sample.py: 539]
+05/10 18:35:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:35:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:35:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:35:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:35:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:35:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.44s (batch: 4.46s, save: 9.98s)	[pipeline.py: 300]
+05/10 18:35:21 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
+  episode_total: mean=198.38s, total=198.38s, count=1, min=198375.8ms, max=198375.8ms
+  sensor_polling: mean=489.1ms, total=146.72s, count=300, min=410.8ms, max=823.3ms
+  save_trajectories: mean=9.98s, total=9.98s, count=1, min=9980.2ms, max=9980.2ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=18.2ms, max=76.7ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.1ms, max=4458.1ms
+  task_sampling: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
+  task_specific_sample: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=514.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:35:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:35:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:35:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:35:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:35:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:35:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:35:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043621m	[env.py: 870]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:35:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87535482  0.80690426  0.04362115] yaw=-158.5deg	[env.py: 1019]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98776227  0.19365187  0.04362115] yaw=162.4deg	[env.py: 1019]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73009183  0.97126759  0.04362115] yaw=-156.0deg	[env.py: 1019]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:35:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms	[env.py: 1075]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.807, 0.044)	[env.py: 1079]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
+05/10 18:35:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:35:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:35:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:35:23 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:35:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:35:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:35:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:35:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:35:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:35:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:35:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.456[m] 92.631[deg]	[grasp_sample.py: 539]
+05/10 18:35:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:35:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:35:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:35:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:36:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:36:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:11 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:36:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:36:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:36:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:36:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:34 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:36:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:36:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:36:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:36:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:36:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:36:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:36:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:36:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:36:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:36:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.74s (batch: 4.06s, save: 7.68s)	[pipeline.py: 300]
+05/10 18:36:46 INFO: [Worker 0] Feasibility-checked 82 grasps in 7.933s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:36:46 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.281[m] 1.523[deg]	[grasp_sample.py: 539]
+05/10 18:36:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:36:47 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.16s:
+  episode_total: mean=174.17s, total=348.34s, count=2, min=158065.1ms, max=190276.0ms
+  sensor_polling: mean=495.2ms, total=275.84s, count=557, min=381.1ms, max=852.9ms
+  physics_step: mean=24.7ms, total=13.74s, count=557, min=14.7ms, max=87.5ms
+  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7683.2ms, max=7683.2ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.8ms, max=4058.8ms
+  task_sampling: mean=577.5ms, total=1.16s, count=2, min=423.3ms, max=731.7ms
+  task_specific_sample: mean=571.5ms, total=1.14s, count=2, min=419.7ms, max=723.3ms
+  scene_randomize: mean=4.4ms, total=8.8ms, count=2, min=1.7ms, max=7.1ms
+  mj_forward_sync: mean=450.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:36:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:36:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:36:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:36:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:36:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:36:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:36:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:36:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:36:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:36:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:36:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:36:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:36:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027816m	[env.py: 870]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:36:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07729987  1.19750495  0.0278163 ] yaw=-131.6deg	[env.py: 1019]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74722422  0.49670619  0.0278163 ] yaw=-188.2deg	[env.py: 1019]
+05/10 18:36:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89779721  0.25119061  0.0278163 ] yaw=161.3deg	[env.py: 1019]
+05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:36:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=137.7ms, total=137.8ms	[env.py: 1075]
+05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 1.198, 0.028)	[env.py: 1079]
+05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg	[env.py: 1082]
+05/10 18:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/10 18:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:36:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:36:49 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:36:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:36:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:36:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:36:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:36:51 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:36:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.573s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:36:51 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.514[m] 83.156[deg]	[grasp_sample.py: 539]
+05/10 18:36:52 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:36:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:36:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:36:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:36:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:36:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:36:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:36:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072373m	[env.py: 870]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:36:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05310339  1.21680149  0.07237347] yaw=-141.5deg	[env.py: 1019]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92834387  0.46160435  0.07237347] yaw=176.4deg	[env.py: 1019]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07103646  0.90667419  0.07237347] yaw=-139.9deg	[env.py: 1019]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:36:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.5ms, total=104.5ms	[env.py: 1075]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.053, 1.217, 0.072)	[env.py: 1079]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg	[env.py: 1082]
+05/10 18:36:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:36:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:36:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:36:54 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:36:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:36:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:36:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:36:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:36:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.053s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:36:56 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.617[m] 89.989[deg]	[grasp_sample.py: 539]
+05/10 18:36:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:57 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:36:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:36:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:36:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:36:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:36:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:36:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:36:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:36:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085483m	[env.py: 870]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:36:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78438683  0.22645539  0.08548272] yaw=154.6deg	[env.py: 1019]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72388311  0.72469983  0.08548272] yaw=-163.2deg	[env.py: 1019]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:36:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.2ms, total=179.2ms	[env.py: 1075]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.226, 0.085)	[env.py: 1079]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.6 deg	[env.py: 1082]
+05/10 18:36:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:36:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:36:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:36:59 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:36:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:36:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:36:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:36:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:37:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:37:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:37:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.545[m] 97.955[deg]	[grasp_sample.py: 539]
+05/10 18:37:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:37:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:37:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:37:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:37:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:37:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:37:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:37:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:37:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:37:08 INFO: [Worker 0] Feasibility-checked 72 grasps in 4.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:37:08 INFO: [Worker 0] Feasible grasp found 105 (originally 105): w/ 0.171[m] 6.416[deg]	[grasp_sample.py: 539]
+05/10 18:37:09 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:37:10 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:37:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:37:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:37:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:37:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:37:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:37:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:37:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:37:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:37:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068088m	[env.py: 870]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:37:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69885532  0.8514408   0.06808755] yaw=-159.5deg	[env.py: 1019]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87694431  0.39150956  0.06808755] yaw=171.7deg	[env.py: 1019]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83458224  0.99870275  0.06808755] yaw=-147.3deg	[env.py: 1019]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.9ms	[env.py: 1075]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.851, 0.068)	[env.py: 1079]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg	[env.py: 1082]
+05/10 18:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:37:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:37:12 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:37:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:37:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:37:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:37:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:37:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.074s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:37:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.624[m] 91.773[deg]	[grasp_sample.py: 539]
+05/10 18:37:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:37:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:37:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:37:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:37:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:37:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 12.72s (batch: 4.59s, save: 8.13s)	[pipeline.py: 300]
+05/10 18:37:23 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s:
+  episode_total: mean=182.80s, total=182.80s, count=1, min=182803.3ms, max=182803.3ms
+  sensor_polling: mean=465.5ms, total=139.64s, count=300, min=394.6ms, max=890.3ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8126.2ms, max=8126.2ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.5ms, max=35.0ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.3ms, max=4589.3ms
+  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
+  task_specific_sample: mean=440.4ms, total=440.4ms, count=1, min=440.4ms, max=440.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=371.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:37:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:37:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:37:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:37:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:37:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:37:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:37:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030480m	[env.py: 870]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:37:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9958913   0.82098141  0.03048011] yaw=-156.4deg	[env.py: 1019]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9057847   0.12020668  0.03048011] yaw=153.7deg	[env.py: 1019]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86502394  1.17221916  0.03048011] yaw=-134.6deg	[env.py: 1019]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:37:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.8ms	[env.py: 1075]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.821, 0.030)	[env.py: 1079]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg	[env.py: 1082]
+05/10 18:37:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
+05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:37:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:37:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:37:25 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:37:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:37:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:37:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:37:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:37:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:37:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.323[m] 83.166[deg]	[grasp_sample.py: 539]
+05/10 18:37:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:37:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:37:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:37:50 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:37:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:37:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:38:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:38:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:38:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:38:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:38:10 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:38:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:38:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:38:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:38:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:38:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:38:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 14.86s (batch: 4.26s, save: 10.60s)	[pipeline.py: 300]
+05/10 18:38:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:38:26 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
+  episode_total: mean=182.73s, total=182.73s, count=1, min=182733.0ms, max=182733.0ms
+  sensor_polling: mean=456.7ms, total=137.01s, count=300, min=388.5ms, max=930.3ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10600.2ms, max=10600.2ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.1ms, max=49.7ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.4ms, max=4259.4ms
+  task_sampling: mean=401.5ms, total=401.5ms, count=1, min=401.5ms, max=401.5ms
+  task_specific_sample: mean=397.8ms, total=397.8ms, count=1, min=397.8ms, max=397.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=429.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:38:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:38:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:38:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:38:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:38:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070338m	[env.py: 870]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=277.8ms, total=277.8ms	[env.py: 1105]
+05/10 18:38:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 18:38:28 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 18:38:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:38:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:38:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:38:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:38:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:38:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:38:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089307m	[env.py: 870]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:38:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01211484  1.13161454  0.08930676] yaw=-129.2deg	[env.py: 1019]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.928507    0.14088822  0.08930676] yaw=145.2deg	[env.py: 1019]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62314829  0.55780837  0.08930676] yaw=-166.7deg	[env.py: 1019]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:38:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.1ms, total=108.1ms	[env.py: 1075]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.132, 0.089)	[env.py: 1079]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.2 deg	[env.py: 1082]
+05/10 18:38:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:38:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:38:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:38:30 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:38:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:38:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:38:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:38:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:38:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:38:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.691s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:38:31 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.562[m] 91.314[deg]	[grasp_sample.py: 539]
+05/10 18:38:33 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:38:34 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/10 18:38:34 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/10 18:38:34 INFO: [Worker 0] Worker 0 completed house 1: 11/11 successful episodes	[pipeline.py: 1323]
+05/10 18:38:34 INFO: [Worker 0] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5011.57s
+  House averages:
+  episode_total: mean=152.12s, total=2738.12s, count=18, min=292.1ms, max=250997.5ms
+  sensor_polling: mean=516.6ms, total=1991.32s, count=3855, min=388.5ms, max=1296.6ms
+  save_trajectories: mean=9.43s, total=103.75s, count=11, min=8314.2ms, max=11493.7ms
+  physics_step: mean=25.6ms, total=98.74s, count=3855, min=14.1ms, max=119.2ms
+  save_batch_prep: mean=4.52s, total=49.76s, count=11, min=4071.8ms, max=5084.2ms
+  task_sampling: mean=726.3ms, total=12.35s, count=17, min=400.0ms, max=4198.2ms
+  task_specific_sample: mean=496.9ms, total=8.94s, count=18, min=283.6ms, max=603.6ms
+  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
+  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
+  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
+  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
+  task_sampling_failed: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
+  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
+  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
+  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=7.3ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  mj_forward_sync: mean=554.3us, total=10.0ms, count=18, min=0.4ms, max=1.6ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=21.2us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 18:38:34 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 18:38:34 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5011.57s
+  Worker averages:
+  episode_total: mean=152.12s, total=2738.12s, count=18, min=292.1ms, max=250997.5ms
+  sensor_polling: mean=516.6ms, total=1991.32s, count=3855, min=388.5ms, max=1296.6ms
+  save_trajectories: mean=9.43s, total=103.75s, count=11, min=8314.2ms, max=11493.7ms
+  physics_step: mean=25.6ms, total=98.74s, count=3855, min=14.1ms, max=119.2ms
+  save_batch_prep: mean=4.52s, total=49.76s, count=11, min=4071.8ms, max=5084.2ms
+  task_sampling: mean=726.3ms, total=12.35s, count=17, min=400.0ms, max=4198.2ms
+  task_specific_sample: mean=496.9ms, total=8.94s, count=18, min=283.6ms, max=603.6ms
+  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
+  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
+  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
+  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
+  task_sampling_failed: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
+  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
+  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
+  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=7.3ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  mj_forward_sync: mean=554.3us, total=10.0ms, count=18, min=0.4ms, max=1.6ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=21.2us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 18:38:37 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 18:38:37 INFO: Success count: 11, Total count: 11	[pipeline.py: 1491]
+05/10 18:38:37 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 18:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:39:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:39:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:39:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:39:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:39:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:39:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.323s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:39:38 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.574[deg]	[grasp_sample.py: 539]
+05/10 18:39:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:39:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:39:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:39:40 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:39:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:39:47 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:39:49 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:40:00 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:40:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:40:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:40:06 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:40:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:40:06 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/10 18:40:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:40:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:40:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:40:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:40:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:40:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.10s (batch: 3.82s, save: 7.28s)	[pipeline.py: 300]
+05/10 18:40:12 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.94s:
+  episode_total: mean=147.89s, total=295.77s, count=2, min=115395.4ms, max=180375.7ms
+  sensor_polling: mean=453.2ms, total=208.94s, count=461, min=380.8ms, max=858.2ms
+  physics_step: mean=20.6ms, total=9.48s, count=461, min=12.3ms, max=68.6ms
+  save_trajectories: mean=7.28s, total=7.28s, count=1, min=7278.4ms, max=7278.4ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3818.8ms, max=3818.8ms
+  task_sampling: mean=472.5ms, total=944.9ms, count=2, min=397.7ms, max=547.3ms
+  task_specific_sample: mean=468.5ms, total=936.9ms, count=2, min=394.0ms, max=542.9ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.6ms, max=3.0ms
+  mj_forward_sync: mean=549.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:40:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:40:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:40:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:40:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:40:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:40:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:40:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055230m	[env.py: 870]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:40:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98802913  0.77941833  0.05522998] yaw=-151.1deg	[env.py: 1019]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84023759  0.32563108  0.05522998] yaw=162.2deg	[env.py: 1019]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67306965  0.86819006  0.05522998] yaw=-153.6deg	[env.py: 1019]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:40:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.2ms, total=143.2ms	[env.py: 1075]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.779, 0.055)	[env.py: 1079]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg	[env.py: 1082]
+05/10 18:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.774m	[env.py: 1086]
+05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:40:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:40:13 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:40:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:40:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:40:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:40:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:40:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:40:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.369[m] 89.154[deg]	[grasp_sample.py: 539]
+05/10 18:40:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:40:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:40:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:40:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:40:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:40:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 10.53s (batch: 3.75s, save: 6.78s)	[pipeline.py: 300]
+05/10 18:40:17 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
+  episode_total: mean=171.88s, total=171.88s, count=1, min=171883.7ms, max=171883.7ms
+  sensor_polling: mean=461.6ms, total=131.57s, count=285, min=386.5ms, max=861.9ms
+  save_trajectories: mean=6.78s, total=6.78s, count=1, min=6779.0ms, max=6779.0ms
+  physics_step: mean=21.6ms, total=6.14s, count=285, min=15.0ms, max=68.3ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3750.6ms, max=3750.6ms
+  task_sampling: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms
+  task_specific_sample: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=370.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:40:18 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/10 18:40:18 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/10 18:40:18 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
+05/10 18:40:18 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5205.25s
+  House averages:
+  episode_total: mean=157.93s, total=2842.68s, count=18, min=2846.3ms, max=253785.6ms
+  sensor_polling: mean=509.6ms, total=2061.23s, count=4045, min=386.5ms, max=1305.6ms
+  save_trajectories: mean=9.99s, total=119.94s, count=12, min=6779.0ms, max=12617.2ms
+  physics_step: mean=24.8ms, total=100.12s, count=4045, min=13.5ms, max=132.9ms
+  save_batch_prep: mean=4.41s, total=52.96s, count=12, min=3656.5ms, max=5362.1ms
+  task_sampling: mean=673.7ms, total=12.13s, count=18, min=362.2ms, max=3869.8ms
+  task_specific_sample: mean=499.4ms, total=8.99s, count=18, min=359.2ms, max=795.5ms
+  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
+  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
+  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
+  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
+  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
+  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
+  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  mj_forward_sync: mean=472.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 18:40:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 18:40:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5205.25s
+  Worker averages:
+  episode_total: mean=157.93s, total=2842.68s, count=18, min=2846.3ms, max=253785.6ms
+  sensor_polling: mean=509.6ms, total=2061.23s, count=4045, min=386.5ms, max=1305.6ms
+  save_trajectories: mean=9.99s, total=119.94s, count=12, min=6779.0ms, max=12617.2ms
+  physics_step: mean=24.8ms, total=100.12s, count=4045, min=13.5ms, max=132.9ms
+  save_batch_prep: mean=4.41s, total=52.96s, count=12, min=3656.5ms, max=5362.1ms
+  task_sampling: mean=673.7ms, total=12.13s, count=18, min=362.2ms, max=3869.8ms
+  task_specific_sample: mean=499.4ms, total=8.99s, count=18, min=359.2ms, max=795.5ms
+  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
+  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
+  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
+  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
+  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
+  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
+  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  mj_forward_sync: mean=472.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 18:40:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:40:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:40:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.42s (batch: 3.91s, save: 7.51s)	[pipeline.py: 300]
+05/10 18:40:21 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 18:40:21 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
+05/10 18:40:21 INFO: Success rate: 92.31%	[pipeline.py: 1492]
+05/10 18:40:21 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
+  episode_total: mean=69.83s, total=209.50s, count=3, min=3453.7ms, max=202195.3ms
+  sensor_polling: mean=462.2ms, total=138.67s, count=300, min=396.4ms, max=882.2ms
+  save_trajectories: mean=7.51s, total=7.51s, count=1, min=7511.5ms, max=7511.5ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=13.4ms, max=59.6ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3906.2ms, max=3906.2ms
+  task_sampling: mean=429.9ms, total=1.29s, count=3, min=322.2ms, max=545.0ms
+  task_specific_sample: mean=426.6ms, total=1.28s, count=3, min=319.6ms, max=539.8ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.1ms, max=3.4ms
+  mj_forward_sync: mean=469.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:40:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:40:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:40:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:40:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:40:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:40:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:40:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035219m	[env.py: 870]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:40:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88441163  1.0147874   0.03521872] yaw=-146.1deg	[env.py: 1019]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11070662  1.1058788   0.03521872] yaw=-142.9deg	[env.py: 1019]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81109134  0.30615233  0.03521872] yaw=165.1deg	[env.py: 1019]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:40:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.9ms	[env.py: 1075]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 1.015, 0.035)	[env.py: 1079]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
+05/10 18:40:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:40:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:40:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:40:23 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:40:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:40:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:40:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:40:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:40:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.837s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:40:27 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.523[m] 78.992[deg]	[grasp_sample.py: 539]
+05/10 18:40:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:40:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:40:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:40:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:40:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:41:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:41:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:41:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:41:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:42:29 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:42:43 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:42:51 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:42:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:42:51 INFO: [Worker 0] Preparing episode data: 296 timesteps	[save_utils.py: 278]
+05/10 18:43:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:43:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:43:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:43:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:43:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:43:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.96s (batch: 3.85s, save: 8.11s)	[pipeline.py: 300]
+05/10 18:43:04 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
+  episode_total: mean=170.90s, total=170.90s, count=1, min=170895.1ms, max=170895.1ms
+  sensor_polling: mean=427.3ms, total=126.04s, count=295, min=372.7ms, max=805.4ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8110.2ms, max=8110.2ms
+  physics_step: mean=20.4ms, total=6.03s, count=295, min=13.5ms, max=45.9ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.4ms, max=3850.4ms
+  task_sampling: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
+  task_specific_sample: mean=401.1ms, total=401.1ms, count=1, min=401.1ms, max=401.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=383.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:43:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:43:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:43:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:43:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:43:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:43:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:43:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:43:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:43:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:43:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036145m	[env.py: 870]
+05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:43:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:43:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88305361  1.11725947  0.03614477] yaw=-136.0deg	[env.py: 1019]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08304382  1.07871692  0.03614477] yaw=-145.1deg	[env.py: 1019]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96054729  0.13942707  0.03614477] yaw=152.4deg	[env.py: 1019]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:43:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.9ms, total=128.9ms	[env.py: 1075]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 1.117, 0.036)	[env.py: 1079]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg	[env.py: 1082]
+05/10 18:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/10 18:43:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:43:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:43:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:43:06 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:43:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:43:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:43:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:43:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:43:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:43:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.596[m] 90.584[deg]	[grasp_sample.py: 539]
+05/10 18:43:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:43:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:43:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:43:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:43:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:43:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.82s (batch: 3.94s, save: 7.88s)	[pipeline.py: 300]
+05/10 18:43:14 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.51s:
+  episode_total: mean=171.53s, total=171.53s, count=1, min=171531.2ms, max=171531.2ms
+  sensor_polling: mean=420.2ms, total=126.05s, count=300, min=366.2ms, max=759.4ms
+  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7884.9ms, max=7884.9ms
+  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.5ms, max=68.6ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.8ms, max=3936.8ms
+  task_sampling: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
+  task_specific_sample: mean=510.4ms, total=510.4ms, count=1, min=510.4ms, max=510.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=367.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:43:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:43:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:43:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:43:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:43:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:43:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:43:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092368m	[env.py: 870]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:43:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16724396  1.00984182  0.09236771] yaw=-133.1deg	[env.py: 1019]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9910261   0.84610897  0.09236771] yaw=-162.7deg	[env.py: 1019]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9549785   1.10251601  0.09236771] yaw=-138.3deg	[env.py: 1019]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:43:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.3ms, total=98.3ms	[env.py: 1075]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.167, 1.010, 0.092)	[env.py: 1079]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
+05/10 18:43:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:43:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:43:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:43:16 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:43:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:43:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:43:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:43:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:43:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:43:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.305[m] 88.902[deg]	[grasp_sample.py: 539]
+05/10 18:43:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:43:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:43:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:43:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:43:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:43:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:44:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:44:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:44:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:45:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:45:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:45:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:45:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:45:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:45:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:45:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:45:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:45:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:45:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:45:29 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.329s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:45:29 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.360[deg]	[grasp_sample.py: 539]
+05/10 18:45:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.299s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:45:30 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.622[deg]	[grasp_sample.py: 539]
+05/10 18:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:45:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:45:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:45:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:45:32 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/10 18:45:32 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/10 18:45:32 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
+05/10 18:45:32 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5770.94s
+  House averages:
+  episode_total: mean=175.27s, total=3154.89s, count=18, min=3453.7ms, max=247713.5ms
+  sensor_polling: mean=502.4ms, total=2312.47s, count=4603, min=366.2ms, max=1200.9ms
+  physics_step: mean=24.4ms, total=112.47s, count=4603, min=13.4ms, max=134.6ms
+  save_trajectories: mean=9.15s, total=109.82s, count=12, min=7511.5ms, max=11088.0ms
+  save_batch_prep: mean=4.30s, total=51.58s, count=12, min=3880.4ms, max=5385.2ms
+  task_sampling: mean=712.0ms, total=12.82s, count=18, min=322.2ms, max=3860.2ms
+  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=319.6ms, max=843.5ms
+  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
+  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
+  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
+  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
+  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
+  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
+  scene_randomize: mean=3.0ms, total=54.3ms, count=18, min=1.1ms, max=8.7ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
+  mj_forward_sync: mean=516.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 18:45:32 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 18:45:32 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5770.94s
+  Worker averages:
+  episode_total: mean=175.27s, total=3154.89s, count=18, min=3453.7ms, max=247713.5ms
+  sensor_polling: mean=502.4ms, total=2312.47s, count=4603, min=366.2ms, max=1200.9ms
+  physics_step: mean=24.4ms, total=112.47s, count=4603, min=13.4ms, max=134.6ms
+  save_trajectories: mean=9.15s, total=109.82s, count=12, min=7511.5ms, max=11088.0ms
+  save_batch_prep: mean=4.30s, total=51.58s, count=12, min=3880.4ms, max=5385.2ms
+  task_sampling: mean=712.0ms, total=12.82s, count=18, min=322.2ms, max=3860.2ms
+  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=319.6ms, max=843.5ms
+  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
+  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
+  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
+  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
+  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
+  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
+  scene_randomize: mean=3.0ms, total=54.3ms, count=18, min=1.1ms, max=8.7ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
+  mj_forward_sync: mean=516.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 18:45:34 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:45:34 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 18:45:34 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
+05/10 18:45:34 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 18:45:55 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_005	[pipeline.py: 1174]
+05/10 18:45:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:45:55 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:46:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:46:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005	[save_utils.py: 785]
+05/10 18:46:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_005 in 11.10s (batch: 3.79s, save: 7.31s)	[pipeline.py: 300]
+05/10 18:46:07 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.39s:
+  episode_total: mean=181.27s, total=181.27s, count=1, min=181268.6ms, max=181268.6ms
+  sensor_polling: mean=421.2ms, total=126.37s, count=300, min=364.4ms, max=778.3ms
+  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7309.2ms, max=7309.2ms
+  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.6ms, max=62.3ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.1ms, max=3790.1ms
+  task_sampling: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms
+  task_specific_sample: mean=384.9ms, total=384.9ms, count=1, min=384.9ms, max=384.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=390.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:46:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:46:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:46:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:46:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:46:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:46:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:46:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016724m	[env.py: 870]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:46:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01105646  1.24629312  0.01672395] yaw=-123.5deg	[env.py: 1019]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6744023   0.17334093  0.01672395] yaw=155.8deg	[env.py: 1019]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0912006   0.95800413  0.01672395] yaw=-137.6deg	[env.py: 1019]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.2ms, total=61.2ms	[env.py: 1075]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.246, 0.017)	[env.py: 1079]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.5 deg	[env.py: 1082]
+05/10 18:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:46:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:46:09 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:46:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:46:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:46:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:46:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:46:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:46:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.609[m] 90.362[deg]	[grasp_sample.py: 539]
+05/10 18:46:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:46:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:46:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:47:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:47:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:47:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:47:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:47:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:47:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:47:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:47:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:47:55 INFO: [Worker 0] Feasibility-checked 86 grasps in 1.326s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 18:47:55 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 18:47:56 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/10 18:47:56 WARNING: [Worker 0] No trajectory data to save for chunk_005	[pipeline.py: 234]
+05/10 18:47:56 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
+05/10 18:47:56 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5989.18s
+  House averages:
+  episode_total: mean=183.40s, total=3301.12s, count=18, min=3729.9ms, max=273904.3ms
+  sensor_polling: mean=497.7ms, total=2364.17s, count=4750, min=362.6ms, max=1330.4ms
+  save_trajectories: mean=9.37s, total=121.80s, count=13, min=7278.4ms, max=12131.2ms
+  physics_step: mean=24.4ms, total=115.96s, count=4750, min=12.3ms, max=140.7ms
+  save_batch_prep: mean=4.27s, total=55.57s, count=13, min=3790.1ms, max=5216.9ms
+  task_sampling: mean=707.0ms, total=12.73s, count=18, min=357.5ms, max=4598.7ms
+  task_specific_sample: mean=489.9ms, total=8.82s, count=18, min=353.9ms, max=765.1ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=5.5ms
+  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  mj_forward_sync: mean=477.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 18:47:56 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 18:47:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5989.18s
+  Worker averages:
+  episode_total: mean=183.40s, total=3301.12s, count=18, min=3729.9ms, max=273904.3ms
+  sensor_polling: mean=497.7ms, total=2364.17s, count=4750, min=362.6ms, max=1330.4ms
+  save_trajectories: mean=9.37s, total=121.80s, count=13, min=7278.4ms, max=12131.2ms
+  physics_step: mean=24.4ms, total=115.96s, count=4750, min=12.3ms, max=140.7ms
+  save_batch_prep: mean=4.27s, total=55.57s, count=13, min=3790.1ms, max=5216.9ms
+  task_sampling: mean=707.0ms, total=12.73s, count=18, min=357.5ms, max=4598.7ms
+  task_specific_sample: mean=489.9ms, total=8.82s, count=18, min=353.9ms, max=765.1ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=5.5ms
+  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  mj_forward_sync: mean=477.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 18:47:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 18:47:58 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
+05/10 18:47:58 INFO: Success rate: 92.86%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_005/shard_1_of_4.log b/fridge_7/chunk_005/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..67cb0fce6474cbd4357660bf3436c25555e96e4a
--- /dev/null
+++ b/fridge_7/chunk_005/shard_1_of_4.log
@@ -0,0 +1,1635 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_005
+  shard=1/4  seed=20501  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:52:24 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 17:52:24 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 17:52:24 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_005'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 17:52:24 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7f8d7afc1bd0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20501,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:52:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 17:52:24 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 17:52:24 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 140245627202960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 140245627202960 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 140245627202960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 140245627202960 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 140245627076112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 140245627076112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 140245627076240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 140245627076240 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 140245627076240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 140245627076240 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 140245627076112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 140245627076112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 140245627241936 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 140245627241936 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 140245627242512 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 140245627242512 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 140245627242512 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 140245627242512 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 140245627241936 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 140245627241936 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 17:52:24 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 58f46e8283d0 at 0x7f8d7b530dd0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 58f46e855f70 at 0x7f8d7b544bd0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 58f46e855f70 at 0x7f8d7b526250>
+[05/10 17:52:27 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:52:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
+[05/10 17:52:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:52:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:52:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072128m
+[05/10 17:52:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:52:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 17:52:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01279411  1.25093177  0.07212764] yaw=-135.5deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79243203  0.3439664   0.07212764] yaw=175.9deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.84702069  0.38589366  0.07212764] yaw=184.2deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=30.5ms, retries=196.2ms, total=226.8ms
+[05/10 17:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.013, 1.251, 0.072)
+[05/10 17:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.5 deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.033m
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:52:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:52:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 35.098s
+[05/10 17:53:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:53:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:53:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 17:53:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.692s, found feasible grasp: True
+[05/10 17:53:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.607[m] 88.058[deg]
+[05/10 17:53:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:55:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:55:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:55:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:55:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:55:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:55:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 76 non-colliding grasps
+[05/10 17:55:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.672s, found feasible grasp: True
+[05/10 17:55:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.105[m] 2.289[deg]
+[05/10 17:55:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:55:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:55:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:55:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:55:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:55:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:55:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:55:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:55:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:55:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:55:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:55:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:55:58 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:55:58 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 17:55:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:55:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:55:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps
+[05/10 17:56:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 3.203s, found feasible grasp: False
+[05/10 17:56:01 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 17:56:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:56:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:56:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:56:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:56:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:56:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:56:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/10 17:56:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:56:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:56:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072954m
+[05/10 17:56:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:56:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:56:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:56:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83051939  0.62145997  0.0729539 ] yaw=-160.9deg
+[05/10 17:56:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:56:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92384335  1.07285417  0.0729539 ] yaw=-151.5deg
+[05/10 17:56:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:56:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76812818  0.10182049  0.0729539 ] yaw=148.6deg
+[05/10 17:56:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:56:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:56:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.2ms, total=225.3ms
+[05/10 17:56:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.831, 0.621, 0.073)
+[05/10 17:56:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg
+[05/10 17:56:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.883m
+[05/10 17:56:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:56:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 17:56:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 17:56:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:56:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:56:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 17:56:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.109s, found feasible grasp: True
+[05/10 17:56:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.464[m] 90.553[deg]
+[05/10 17:56:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:56:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:56:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:57:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:57:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:58:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 17:59:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:59:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 17:59:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:59:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 17:59:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:59:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.03s (batch: 5.08s, save: 8.94s)
+[05/10 17:59:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.73s:
+  episode_total: mean=215.69s, total=431.39s, count=2, min=213853.3ms, max=217531.9ms
+  sensor_polling: mean=517.2ms, total=294.30s, count=569, min=426.2ms, max=804.4ms
+  physics_step: mean=25.1ms, total=14.31s, count=569, min=17.6ms, max=109.4ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8944.7ms, max=8944.7ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5084.2ms, max=5084.2ms
+  task_sampling: mean=2.37s, total=4.73s, count=2, min=532.7ms, max=4198.2ms
+  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
+  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
+  task_specific_sample: mean=550.5ms, total=1.10s, count=2, min=529.5ms, max=571.4ms
+  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
+  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
+  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
+  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
+  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  scene_randomize: mean=4.5ms, total=8.9ms, count=2, min=1.6ms, max=7.3ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  mj_forward_sync: mean=1.1ms, total=2.2ms, count=2, min=0.5ms, max=1.6ms
+  policy_setup: mean=28.9us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:59:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:59:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:59:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:59:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:59:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:59:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:59:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:59:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:59:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:59:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:59:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
+[05/10 17:59:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:59:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:59:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098611m
+[05/10 17:59:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:59:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:59:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87097755  0.39197488  0.09861113] yaw=179.6deg
+[05/10 17:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89885229  0.26118804  0.09861113] yaw=163.1deg
+[05/10 17:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:59:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:59:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98654146  0.71303406  0.09861113] yaw=-160.4deg
+[05/10 17:59:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:59:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:59:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=256.2ms, total=256.3ms
+[05/10 17:59:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.392, 0.099)
+[05/10 17:59:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.6 deg
+[05/10 17:59:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.836m
+[05/10 17:59:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:59:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:59:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:59:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:59:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:59:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 17:59:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
+[05/10 17:59:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:59:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:59:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 17:59:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.032s, found feasible grasp: True
+[05/10 17:59:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.409[m] 90.560[deg]
+[05/10 17:59:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:00:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:00:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:01:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:01:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:01:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:01:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:01:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:01:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:01:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:01:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:01:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 78 non-colliding grasps
+[05/10 18:01:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True
+[05/10 18:01:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.418[deg]
+[05/10 18:01:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:01:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:02:02 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:02:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:02:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:03:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:03:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:03:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:03:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:03:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:03:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.70s (batch: 4.07s, save: 10.63s)
+[05/10 18:03:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.53s:
+  episode_total: mean=223.74s, total=223.74s, count=1, min=223738.4ms, max=223738.4ms
+  sensor_polling: mean=528.5ms, total=158.55s, count=300, min=450.9ms, max=983.0ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10626.3ms, max=10626.3ms
+  physics_step: mean=27.8ms, total=8.34s, count=300, min=15.7ms, max=89.4ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.8ms, max=4071.8ms
+  task_sampling: mean=534.4ms, total=534.4ms, count=1, min=534.4ms, max=534.4ms
+  task_specific_sample: mean=529.1ms, total=529.1ms, count=1, min=529.1ms, max=529.1ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=655.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:03:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:03:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:03:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:03:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:03:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:03:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:03:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:03:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:03:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:03:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:03:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
+[05/10 18:03:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:03:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:03:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083966m
+[05/10 18:03:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:03:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:03:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71364363  0.40425663  0.08396626] yaw=176.0deg
+[05/10 18:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:03:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8498132   0.15936157  0.08396626] yaw=164.7deg
+[05/10 18:03:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:03:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7127387   0.73686167  0.08396626] yaw=-176.3deg
+[05/10 18:03:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:03:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:03:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=251.7ms, total=251.7ms
+[05/10 18:03:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.404, 0.084)
+[05/10 18:03:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.0 deg
+[05/10 18:03:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.992m
+[05/10 18:03:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:03:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:03:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:03:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:03:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:03:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 18:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.155s
+[05/10 18:03:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:03:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:03:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 18:03:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.240s, found feasible grasp: True
+[05/10 18:03:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.510[m] 76.315[deg]
+[05/10 18:03:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:04:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:04:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:04:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:06:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:07:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:07:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:07:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:07:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:07:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:07:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.69s (batch: 4.12s, save: 8.57s)
+[05/10 18:07:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.61s:
+  episode_total: mean=251.00s, total=251.00s, count=1, min=250997.5ms, max=250997.5ms
+  sensor_polling: mean=512.9ms, total=153.88s, count=300, min=449.6ms, max=970.9ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8568.9ms, max=8568.9ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.8ms, max=85.0ms
+  save_batch_prep: mean=4.12s, total=4.12s, count=1, min=4123.5ms, max=4123.5ms
+  task_sampling: mean=608.4ms, total=608.4ms, count=1, min=608.4ms, max=608.4ms
+  task_specific_sample: mean=603.6ms, total=603.6ms, count=1, min=603.6ms, max=603.6ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=590.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:07:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:07:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:07:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:07:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:07:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:07:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:07:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:07:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:07:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:07:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:07:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
+[05/10 18:07:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:07:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:07:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098462m
+[05/10 18:07:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:07:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:07:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:07:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98098428  1.28315984  0.09846237] yaw=-122.5deg
+[05/10 18:07:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:07:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:07:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=311.4ms, total=311.4ms
+[05/10 18:07:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.981, 1.283, 0.098)
+[05/10 18:07:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -122.5 deg
+[05/10 18:07:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.078m
+[05/10 18:07:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:07:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:07:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:07:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:07:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:07:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 18:07:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 18:07:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:07:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:07:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 18:07:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.729s, found feasible grasp: False
+[05/10 18:07:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 18:07:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:07:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:07:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:07:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:07:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:07:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:07:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:07:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:07:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:07:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:07:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 18:07:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:07:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:07:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016369m
+[05/10 18:07:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:07:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:07:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:07:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85317905  1.10212424  0.01636906] yaw=-141.9deg
+[05/10 18:07:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:07:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78270697  0.81568483  0.01636906] yaw=-164.0deg
+[05/10 18:07:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:07:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81312568  0.03620226  0.01636906] yaw=152.4deg
+[05/10 18:07:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:07:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:07:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.5ms
+[05/10 18:07:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 1.102, 0.016)
+[05/10 18:07:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.9 deg
+[05/10 18:07:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.051m
+[05/10 18:07:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:07:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:07:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:07:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:07:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:07:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 18:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.060s
+[05/10 18:07:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:07:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:07:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
+[05/10 18:07:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.751s, found feasible grasp: True
+[05/10 18:07:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.608[m] 79.034[deg]
+[05/10 18:07:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:07:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:07:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:09:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:10:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:10:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 18:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:10:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:10:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:10:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 68 non-colliding grasps
+[05/10 18:10:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 1.588s, found feasible grasp: False
+[05/10 18:10:34 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 402, in get_action
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 18:10:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:10:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:10:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:10:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:10:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:10:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:10:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:10:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:10:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:10:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:10:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
+[05/10 18:10:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:10:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:10:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092690m
+[05/10 18:10:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:10:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:10:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:10:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:10:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:10:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88442039  0.6793782   0.09269017] yaw=-155.7deg
+[05/10 18:10:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:10:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:10:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:10:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.19762019  1.09839112  0.09269017] yaw=-137.5deg
+[05/10 18:10:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:10:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.82290531  0.29104865  0.09269017] yaw=178.5deg
+[05/10 18:10:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:10:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:10:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms
+[05/10 18:10:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.679, 0.093)
+[05/10 18:10:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.7 deg
+[05/10 18:10:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.841m
+[05/10 18:10:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:10:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:10:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:10:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:10:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:10:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 18:10:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
+[05/10 18:10:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:10:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:10:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 18:10:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.551s, found feasible grasp: True
+[05/10 18:10:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.388[m] 86.455[deg]
+[05/10 18:10:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:10:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:10:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:11:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:11:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:13:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:13:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:13:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:13:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
+[05/10 18:14:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:14:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:14:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.52s (batch: 4.20s, save: 8.31s)
+[05/10 18:14:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.63s:
+  episode_total: mean=128.29s, total=384.87s, count=3, min=2466.6ms, max=210047.2ms
+  sensor_polling: mean=525.8ms, total=312.86s, count=595, min=438.8ms, max=1193.3ms
+  physics_step: mean=26.1ms, total=15.54s, count=595, min=16.0ms, max=109.7ms
+  save_trajectories: mean=8.31s, total=8.31s, count=1, min=8314.2ms, max=8314.2ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4204.4ms, max=4204.4ms
+  task_sampling: mean=544.6ms, total=1.63s, count=3, min=490.2ms, max=595.7ms
+  task_specific_sample: mean=541.2ms, total=1.62s, count=3, min=487.3ms, max=592.0ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.4ms, max=2.4ms
+  mj_forward_sync: mean=495.8us, total=1.5ms, count=3, min=0.4ms, max=0.7ms
+  policy_setup: mean=20.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 18:14:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:14:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:14:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:14:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:14:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:14:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:14:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:14:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:14:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:14:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:14:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
+[05/10 18:14:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:14:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:14:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079468m
+[05/10 18:14:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:14:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:14:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:14:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:14:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02339654  0.9790538   0.07946751] yaw=-132.8deg
+[05/10 18:14:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:14:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:14:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:14:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:14:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:14:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.8ms, total=225.8ms
+[05/10 18:14:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.023, 0.979, 0.079)
+[05/10 18:14:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.8 deg
+[05/10 18:14:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.841m
+[05/10 18:14:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:14:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:14:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:14:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:14:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:14:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 18:14:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 18:14:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:14:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:14:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:14:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True
+[05/10 18:14:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.431[m] 91.754[deg]
+[05/10 18:14:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:14:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:15:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:15:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:17:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:17:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:17:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:17:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:17:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:17:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:17:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.00s (batch: 4.57s, save: 8.44s)
+[05/10 18:17:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
+  episode_total: mean=210.85s, total=210.85s, count=1, min=210851.1ms, max=210851.1ms
+  sensor_polling: mean=534.7ms, total=160.42s, count=300, min=438.7ms, max=1102.6ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8435.6ms, max=8435.6ms
+  physics_step: mean=26.5ms, total=7.96s, count=300, min=16.2ms, max=79.6ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4566.6ms, max=4566.6ms
+  task_sampling: mean=524.2ms, total=524.2ms, count=1, min=524.2ms, max=524.2ms
+  task_specific_sample: mean=520.1ms, total=520.1ms, count=1, min=520.1ms, max=520.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=466.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=25.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:17:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:17:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:17:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:17:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:17:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:17:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:17:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:17:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:17:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:17:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:17:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
+[05/10 18:17:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:17:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:17:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045743m
+[05/10 18:17:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:17:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:17:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97234935  1.2735712   0.04574261] yaw=-127.5deg
+[05/10 18:17:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:17:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94842868  0.98226963  0.04574261] yaw=-137.3deg
+[05/10 18:17:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:17:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:17:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.2ms
+[05/10 18:17:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.274, 0.046)
+[05/10 18:17:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.5 deg
+[05/10 18:17:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.077m
+[05/10 18:17:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:17:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:17:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:17:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:17:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:17:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 18:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 18:17:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:17:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:17:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 18:17:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.578s, found feasible grasp: False
+[05/10 18:17:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 18:17:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:17:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:17:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:17:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:17:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:17:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:17:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:17:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:17:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:17:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:17:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
+[05/10 18:17:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:17:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:17:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002934m
+[05/10 18:17:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:17:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:17:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:17:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01835073  0.91997506  0.00293359] yaw=-149.6deg
+[05/10 18:17:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:17:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95194022  0.62305237  0.00293359] yaw=-179.4deg
+[05/10 18:17:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:17:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:17:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=170.8ms, total=170.8ms
+[05/10 18:17:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.018, 0.920, 0.003)
+[05/10 18:17:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.6 deg
+[05/10 18:17:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.812m
+[05/10 18:17:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:17:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:17:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:17:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:17:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 18:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 18:17:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:17:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:17:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 18:17:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.505s, found feasible grasp: True
+[05/10 18:17:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.356[m] 86.774[deg]
+[05/10 18:17:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:17:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:17:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:18:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:18:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:20:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:20:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:20:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:20:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 292 timesteps
+[05/10 18:21:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:21:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:21:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.32s (batch: 4.34s, save: 8.98s)
+[05/10 18:21:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.92s:
+  episode_total: mean=104.44s, total=208.89s, count=2, min=2215.1ms, max=206671.5ms
+  sensor_polling: mean=538.1ms, total=156.58s, count=291, min=441.6ms, max=954.3ms
+  save_trajectories: mean=8.98s, total=8.98s, count=1, min=8981.4ms, max=8981.4ms
+  physics_step: mean=27.4ms, total=7.97s, count=291, min=16.2ms, max=111.2ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4339.5ms, max=4339.5ms
+  task_sampling: mean=461.6ms, total=923.3ms, count=2, min=427.0ms, max=496.3ms
+  task_specific_sample: mean=458.0ms, total=916.1ms, count=2, min=424.1ms, max=492.0ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=469.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:21:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:21:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:21:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:21:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:21:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:21:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:21:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:21:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/10 18:21:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:21:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:21:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072717m
+[05/10 18:21:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:21:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:21:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80409753  1.03842379  0.0727171 ] yaw=-139.7deg
+[05/10 18:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:21:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:21:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:21:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:21:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11998763  1.00346928  0.0727171 ] yaw=-144.4deg
+[05/10 18:21:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:21:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:21:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.7ms
+[05/10 18:21:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.804, 1.038, 0.073)
+[05/10 18:21:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.7 deg
+[05/10 18:21:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
+[05/10 18:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:21:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:21:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:21:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 18:21:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.124s
+[05/10 18:21:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:21:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:21:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
+[05/10 18:21:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.967s, found feasible grasp: True
+[05/10 18:21:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.662[m] 92.050[deg]
+[05/10 18:21:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:21:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:21:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:21:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:21:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:21:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:21:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:21:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:21:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:21:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:21:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:21:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
+[05/10 18:21:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:21:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:21:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.019422m
+[05/10 18:21:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:21:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:21:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:21:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:21:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64190896  0.48083145  0.01942239] yaw=175.2deg
+[05/10 18:21:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:21:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87469711  0.56078347  0.01942239] yaw=-168.5deg
+[05/10 18:21:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:21:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77516335  0.44285095  0.01942239] yaw=169.6deg
+[05/10 18:21:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:21:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:21:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=133.4ms, total=133.5ms
+[05/10 18:21:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.642, 0.481, 0.019)
+[05/10 18:21:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.2 deg
+[05/10 18:21:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.060m
+[05/10 18:21:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:21:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:21:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:21:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:21:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:21:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 18:21:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 18:21:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:21:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:21:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 18:21:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.732s, found feasible grasp: True
+[05/10 18:21:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.640[m] 99.226[deg]
+[05/10 18:21:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:22:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:22:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:24:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:24:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:24:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:24:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:24:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:24:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:24:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.84s (batch: 4.80s, save: 9.04s)
+[05/10 18:24:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.98s:
+  episode_total: mean=108.74s, total=217.47s, count=2, min=5730.7ms, max=211739.9ms
+  sensor_polling: mean=531.1ms, total=159.34s, count=300, min=442.0ms, max=1296.6ms
+  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9043.4ms, max=9043.4ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=17.9ms, max=119.2ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4796.3ms, max=4796.3ms
+  task_sampling: mean=492.2ms, total=984.4ms, count=2, min=478.9ms, max=505.5ms
+  task_specific_sample: mean=488.5ms, total=977.1ms, count=2, min=475.6ms, max=501.5ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=473.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:24:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:24:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:24:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:24:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:24:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:24:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:24:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:24:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:24:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:24:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:24:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
+[05/10 18:24:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:24:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:24:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035939m
+[05/10 18:24:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:24:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:24:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 106.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:24:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82148294  0.54387956  0.03593932] yaw=-181.9deg
+[05/10 18:24:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:24:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90453997  0.25251471  0.03593932] yaw=160.0deg
+[05/10 18:24:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:24:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82787093  0.8550738   0.03593932] yaw=-166.1deg
+[05/10 18:24:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:24:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:24:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=177.3ms, total=177.3ms
+[05/10 18:24:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.544, 0.036)
+[05/10 18:24:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -181.9 deg
+[05/10 18:24:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.883m
+[05/10 18:24:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:24:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:24:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:24:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:24:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:24:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 18:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s
+[05/10 18:24:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:24:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:24:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
+[05/10 18:24:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.936s, found feasible grasp: True
+[05/10 18:24:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.428[m] 87.548[deg]
+[05/10 18:24:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:25:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:25:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:26:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:27:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:28:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:28:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:28:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:28:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:28:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:28:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.79s (batch: 5.03s, save: 8.76s)
+[05/10 18:28:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
+  episode_total: mean=212.65s, total=212.65s, count=1, min=212655.0ms, max=212655.0ms
+  sensor_polling: mean=523.9ms, total=157.18s, count=300, min=443.2ms, max=944.8ms
+  save_trajectories: mean=8.76s, total=8.76s, count=1, min=8763.4ms, max=8763.4ms
+  physics_step: mean=25.2ms, total=7.57s, count=300, min=18.9ms, max=56.8ms
+  save_batch_prep: mean=5.03s, total=5.03s, count=1, min=5028.7ms, max=5028.7ms
+  task_sampling: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
+  task_specific_sample: mean=500.4ms, total=500.4ms, count=1, min=500.4ms, max=500.4ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=512.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:28:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:28:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:28:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:28:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:28:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:28:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:28:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:28:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:28:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:28:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:28:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 18:28:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:28:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:28:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010712m
+[05/10 18:28:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:28:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:28:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:28:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93041884  0.95732258  0.01071194] yaw=-147.1deg
+[05/10 18:28:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:28:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:28:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:28:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89331646  0.68459125  0.01071194] yaw=-175.3deg
+[05/10 18:28:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:28:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:28:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:28:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=294.6ms, total=294.6ms
+[05/10 18:28:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.957, 0.011)
+[05/10 18:28:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.1 deg
+[05/10 18:28:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.907m
+[05/10 18:28:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:28:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:28:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:28:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:28:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:28:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 18:28:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 18:28:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:28:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:28:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 18:28:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.788s, found feasible grasp: True
+[05/10 18:28:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.502[m] 80.868[deg]
+[05/10 18:28:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:28:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:28:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:29:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:29:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:29:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:31:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:31:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:31:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:31:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:32:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:32:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:32:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.32s (batch: 4.83s, save: 11.49s)
+[05/10 18:32:01 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.60s:
+  episode_total: mean=212.60s, total=212.60s, count=1, min=212599.7ms, max=212599.7ms
+  sensor_polling: mean=514.9ms, total=154.46s, count=300, min=438.6ms, max=1121.5ms
+  save_trajectories: mean=11.49s, total=11.49s, count=1, min=11493.7ms, max=11493.7ms
+  physics_step: mean=25.1ms, total=7.52s, count=300, min=16.3ms, max=77.4ms
+  save_batch_prep: mean=4.83s, total=4.83s, count=1, min=4829.2ms, max=4829.2ms
+  task_sampling: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms
+  task_specific_sample: mean=599.8ms, total=599.8ms, count=1, min=599.8ms, max=599.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=401.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:32:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:32:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:32:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:32:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:32:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:32:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:32:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:32:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:32:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:32:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 18:32:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:32:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:32:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010441m
+[05/10 18:32:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:32:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:32:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:32:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92512348  0.62870478  0.01044149] yaw=-174.4deg
+[05/10 18:32:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:32:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00633188  0.83874641  0.01044149] yaw=-146.7deg
+[05/10 18:32:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:32:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:32:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.03949257  1.31320479  0.01044149] yaw=-139.7deg
+[05/10 18:32:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:32:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:32:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms
+[05/10 18:32:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.629, 0.010)
+[05/10 18:32:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.4 deg
+[05/10 18:32:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.791m
+[05/10 18:32:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:32:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:32:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:32:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:32:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 18:32:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
+[05/10 18:32:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:32:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:32:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 18:32:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.146s, found feasible grasp: True
+[05/10 18:32:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.404[m] 97.288[deg]
+[05/10 18:32:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:32:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:32:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:32:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:34:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:35:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:35:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:35:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:35:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:35:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:35:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.44s (batch: 4.46s, save: 9.98s)
+[05/10 18:35:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.50s:
+  episode_total: mean=198.38s, total=198.38s, count=1, min=198375.8ms, max=198375.8ms
+  sensor_polling: mean=489.1ms, total=146.72s, count=300, min=410.8ms, max=823.3ms
+  save_trajectories: mean=9.98s, total=9.98s, count=1, min=9980.2ms, max=9980.2ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=18.2ms, max=76.7ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4458.1ms, max=4458.1ms
+  task_sampling: mean=498.4ms, total=498.4ms, count=1, min=498.4ms, max=498.4ms
+  task_specific_sample: mean=494.4ms, total=494.4ms, count=1, min=494.4ms, max=494.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=514.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:35:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:35:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:35:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:35:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:35:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:35:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:35:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:35:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:35:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 18:35:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:35:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:35:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043621m
+[05/10 18:35:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:35:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:35:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 158.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:35:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87535482  0.80690426  0.04362115] yaw=-158.5deg
+[05/10 18:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98776227  0.19365187  0.04362115] yaw=162.4deg
+[05/10 18:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:35:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73009183  0.97126759  0.04362115] yaw=-156.0deg
+[05/10 18:35:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:35:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:35:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.4ms, total=138.4ms
+[05/10 18:35:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.807, 0.044)
+[05/10 18:35:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg
+[05/10 18:35:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.889m
+[05/10 18:35:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:35:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:35:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:35:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:35:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:35:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 18:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 18:35:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:35:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:35:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 18:35:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.518s, found feasible grasp: True
+[05/10 18:35:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.456[m] 92.631[deg]
+[05/10 18:35:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:35:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:36:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:36:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:36:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:37:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:38:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:38:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 1/4: 1 episodes
+[05/10 18:38:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:38:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:38:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:38:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.86s (batch: 4.26s, save: 10.60s)
+[05/10 18:38:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
+  episode_total: mean=182.73s, total=182.73s, count=1, min=182733.0ms, max=182733.0ms
+  sensor_polling: mean=456.7ms, total=137.01s, count=300, min=388.5ms, max=930.3ms
+  save_trajectories: mean=10.60s, total=10.60s, count=1, min=10600.2ms, max=10600.2ms
+  physics_step: mean=20.9ms, total=6.27s, count=300, min=14.1ms, max=49.7ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4259.4ms, max=4259.4ms
+  task_sampling: mean=401.5ms, total=401.5ms, count=1, min=401.5ms, max=401.5ms
+  task_specific_sample: mean=397.8ms, total=397.8ms, count=1, min=397.8ms, max=397.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=429.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:38:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:38:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:38:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:38:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:38:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:38:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:38:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
+[05/10 18:38:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:38:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:38:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070338m
+[05/10 18:38:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:38:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:38:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:28 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=277.8ms, total=277.8ms
+[05/10 18:38:28 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 18:38:28 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 18:38:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:38:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:38:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:38:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:38:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:38:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:38:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:38:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:38:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:38:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:38:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
+[05/10 18:38:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:38:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:38:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089307m
+[05/10 18:38:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:38:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:38:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:38:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 131.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:38:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01211484  1.13161454  0.08930676] yaw=-129.2deg
+[05/10 18:38:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:38:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.928507    0.14088822  0.08930676] yaw=145.2deg
+[05/10 18:38:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:38:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62314829  0.55780837  0.08930676] yaw=-166.7deg
+[05/10 18:38:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:38:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:38:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.1ms, total=108.1ms
+[05/10 18:38:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.012, 1.132, 0.089)
+[05/10 18:38:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -129.2 deg
+[05/10 18:38:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.948m
+[05/10 18:38:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:38:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:38:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:38:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:38:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:38:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 18:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 18:38:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:38:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:38:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:38:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.691s, found feasible grasp: True
+[05/10 18:38:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.562[m] 91.314[deg]
+[05/10 18:38:33 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:38:34 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
+[05/10 18:38:34 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
+[05/10 18:38:34 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/11 successful episodes
+[05/10 18:38:34 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/11 successful, 11 episodes, total_time=5011.57s
+  House averages:
+  episode_total: mean=152.12s, total=2738.12s, count=18, min=292.1ms, max=250997.5ms
+  sensor_polling: mean=516.6ms, total=1991.32s, count=3855, min=388.5ms, max=1296.6ms
+  save_trajectories: mean=9.43s, total=103.75s, count=11, min=8314.2ms, max=11493.7ms
+  physics_step: mean=25.6ms, total=98.74s, count=3855, min=14.1ms, max=119.2ms
+  save_batch_prep: mean=4.52s, total=49.76s, count=11, min=4071.8ms, max=5084.2ms
+  task_sampling: mean=726.3ms, total=12.35s, count=17, min=400.0ms, max=4198.2ms
+  task_specific_sample: mean=496.9ms, total=8.94s, count=18, min=283.6ms, max=603.6ms
+  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
+  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
+  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
+  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
+  task_sampling_failed: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
+  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
+  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
+  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=7.3ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  mj_forward_sync: mean=554.3us, total=10.0ms, count=18, min=0.4ms, max=1.6ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=21.2us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 18:38:34 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 18:38:34 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=5011.57s
+  Worker averages:
+  episode_total: mean=152.12s, total=2738.12s, count=18, min=292.1ms, max=250997.5ms
+  sensor_polling: mean=516.6ms, total=1991.32s, count=3855, min=388.5ms, max=1296.6ms
+  save_trajectories: mean=9.43s, total=103.75s, count=11, min=8314.2ms, max=11493.7ms
+  physics_step: mean=25.6ms, total=98.74s, count=3855, min=14.1ms, max=119.2ms
+  save_batch_prep: mean=4.52s, total=49.76s, count=11, min=4071.8ms, max=5084.2ms
+  task_sampling: mean=726.3ms, total=12.35s, count=17, min=400.0ms, max=4198.2ms
+  task_specific_sample: mean=496.9ms, total=8.94s, count=18, min=283.6ms, max=603.6ms
+  scene_load: mean=3.62s, total=3.62s, count=1, min=3615.4ms, max=3615.4ms
+  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2497.0ms, max=2497.0ms
+  scene_compile: mean=908.4ms, total=908.4ms, count=1, min=908.4ms, max=908.4ms
+  compile_mujoco: mean=667.1ms, total=667.1ms, count=1, min=667.1ms, max=667.1ms
+  task_sampling_failed: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
+  scene_init: mean=158.4ms, total=158.4ms, count=1, min=158.4ms, max=158.4ms
+  compile_xml_load: mean=147.8ms, total=147.8ms, count=1, min=147.8ms, max=147.8ms
+  compile_aux_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  compile_aux_policy_objects: mean=64.7ms, total=64.7ms, count=1, min=64.7ms, max=64.7ms
+  scene_asset_install: mean=51.3ms, total=51.3ms, count=1, min=51.3ms, max=51.3ms
+  scene_randomize: mean=2.6ms, total=45.9ms, count=18, min=1.1ms, max=7.3ms
+  asset_install_grasps: mean=32.8ms, total=32.8ms, count=1, min=32.8ms, max=32.8ms
+  compile_robot_add: mean=16.4ms, total=16.4ms, count=1, min=16.4ms, max=16.4ms
+  asset_install_objects: mean=13.5ms, total=13.5ms, count=1, min=13.5ms, max=13.5ms
+  mj_forward_sync: mean=554.3us, total=10.0ms, count=18, min=0.4ms, max=1.6ms
+  asset_install_scene: mean=5.0ms, total=5.0ms, count=1, min=5.0ms, max=5.0ms
+  policy_setup: mean=21.2us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 18:38:37 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 18:38:37 INFO pipeline.py:1491] Success count: 11, Total count: 11
+[05/10 18:38:37 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_005
+==========================================
diff --git a/fridge_7/chunk_005/shard_2_of_4.log b/fridge_7/chunk_005/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..2995e03817c50b68c88f3829912722a8ff5ba6bb
--- /dev/null
+++ b/fridge_7/chunk_005/shard_2_of_4.log
@@ -0,0 +1,1802 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_005
+  shard=2/4  seed=20502  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:52:24 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 17:52:24 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 17:52:24 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_005'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 17:52:24 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x770679454550>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20502,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:52:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 17:52:24 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 17:52:24 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 130869686269648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130869686269648 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 130869686269648 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130869686269648 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 130869691629136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130869691629136 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130869691629008 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130869691629008 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130869691629008 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130869691629008 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130869691629136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130869691629136 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130869686354128 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130869686354128 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130869686360016 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130869686360016 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 130869686360016 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130869686360016 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130869686354128 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130869686354128 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 17:52:24 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 638a2aea2720 at 0x7706799b1450>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 638a2aea41f0 at 0x7706797c8ed0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 638a2aea41f0 at 0x77067993fe90>
+[05/10 17:52:27 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:52:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:52:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:52:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:52:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:52:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:52:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:52:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:52:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:52:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 17:52:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:52:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:52:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020760m
+[05/10 17:52:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:52:27 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 17:52:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:52:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.63593904  0.27675816  0.02075952] yaw=160.3deg
+[05/10 17:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82218648  0.88892956  0.02075952] yaw=-144.5deg
+[05/10 17:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.1517438   1.04800287  0.02075952] yaw=-144.4deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=12.6ms, retries=99.6ms, total=112.2ms
+[05/10 17:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.636, 0.277, 0.021)
+[05/10 17:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.3 deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.086m
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:52:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:52:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 17:53:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 33.893s
+[05/10 17:53:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:53:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:53:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
+[05/10 17:53:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.711s, found feasible grasp: True
+[05/10 17:53:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.599[m] 83.807[deg]
+[05/10 17:53:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:54:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:54:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:55:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:55:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:55:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:55:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
+[05/10 17:55:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.391s, found feasible grasp: True
+[05/10 17:55:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.050[m] 0.258[deg]
+[05/10 17:55:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:55:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:55:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:55:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:56:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 17:56:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:56:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 17:56:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:56:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 17:56:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:56:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.49s (batch: 4.47s, save: 10.02s)
+[05/10 17:56:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.60s:
+  episode_total: mean=273.90s, total=273.90s, count=1, min=273904.3ms, max=273904.3ms
+  sensor_polling: mean=528.6ms, total=158.59s, count=300, min=444.5ms, max=942.2ms
+  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10019.0ms, max=10019.0ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.2ms, max=53.6ms
+  task_sampling: mean=4.60s, total=4.60s, count=1, min=4598.7ms, max=4598.7ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4470.5ms, max=4470.5ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
+  task_specific_sample: mean=765.1ms, total=765.1ms, count=1, min=765.1ms, max=765.1ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=429.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=34.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:56:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:56:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:56:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:56:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:56:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:56:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:56:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 17:56:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:56:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:56:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029534m
+[05/10 17:56:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:56:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:56:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:56:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84390957  0.80185654  0.02953442] yaw=-158.1deg
+[05/10 17:56:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:56:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9737659   1.09163266  0.02953442] yaw=-137.2deg
+[05/10 17:56:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:56:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:56:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms
+[05/10 17:56:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.844, 0.802, 0.030)
+[05/10 17:56:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.1 deg
+[05/10 17:56:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.916m
+[05/10 17:56:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:57:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:57:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 17:57:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
+[05/10 17:57:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:57:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:57:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 17:57:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.263s, found feasible grasp: True
+[05/10 17:57:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.518[m] 92.437[deg]
+[05/10 17:57:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:57:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:57:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:57:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:58:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:59:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:00:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:00:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:00:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:00:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:00:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:00:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 15.92s (batch: 5.22s, save: 10.70s)
+[05/10 18:00:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.57s:
+  episode_total: mean=208.16s, total=208.16s, count=1, min=208160.6ms, max=208160.6ms
+  sensor_polling: mean=512.6ms, total=153.77s, count=300, min=450.9ms, max=1009.5ms
+  save_trajectories: mean=10.70s, total=10.70s, count=1, min=10700.6ms, max=10700.6ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=18.5ms, max=94.0ms
+  save_batch_prep: mean=5.22s, total=5.22s, count=1, min=5216.9ms, max=5216.9ms
+  task_sampling: mean=573.8ms, total=573.8ms, count=1, min=573.8ms, max=573.8ms
+  task_specific_sample: mean=566.7ms, total=566.7ms, count=1, min=566.7ms, max=566.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:00:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:00:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:00:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:00:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:00:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:00:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:00:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:00:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:00:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:00:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:00:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 18:00:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:00:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:00:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081904m
+[05/10 18:00:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:00:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:00:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:00:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8897349   0.44533364  0.08190392] yaw=188.6deg
+[05/10 18:00:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:00:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:00:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.14760809  1.12987597  0.08190392] yaw=-119.9deg
+[05/10 18:00:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:00:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:00:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78035005  0.51002221  0.08190392] yaw=-172.0deg
+[05/10 18:00:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:00:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:00:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.6ms, total=231.7ms
+[05/10 18:00:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.445, 0.082)
+[05/10 18:00:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 188.6 deg
+[05/10 18:00:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.813m
+[05/10 18:00:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:00:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:00:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:00:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:00:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:00:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 18:00:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.141s
+[05/10 18:00:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:00:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:00:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
+[05/10 18:00:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.759s, found feasible grasp: True
+[05/10 18:00:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.419[m] 99.410[deg]
+[05/10 18:00:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:00:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:00:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:01:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:01:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:01:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:02:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:02:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:02:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:02:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:02:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:02:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:02:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.079s, found 76 non-colliding grasps
+[05/10 18:02:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.825s, found feasible grasp: True
+[05/10 18:02:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.586[deg]
+[05/10 18:02:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:02:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:02:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:02:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:02:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:02:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:02:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:03:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 18:03:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:03:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:03:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
+[05/10 18:03:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.514s, found feasible grasp: True
+[05/10 18:03:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.628[deg]
+[05/10 18:03:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:03:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 18:03:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:03:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:03:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.104s, found 80 non-colliding grasps
+[05/10 18:03:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 2.364s, found feasible grasp: True
+[05/10 18:03:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.628[deg]
+[05/10 18:03:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:03:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:03:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:03:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:03:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:03:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:03:38 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 18:03:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False
+[05/10 18:03:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=False episode_total=0.54s:
+  episode_total: mean=189.16s, total=189.16s, count=1, min=189159.6ms, max=189159.6ms
+  sensor_polling: mean=529.5ms, total=124.44s, count=235, min=449.9ms, max=930.2ms
+  physics_step: mean=25.0ms, total=5.88s, count=235, min=13.5ms, max=65.0ms
+  task_sampling: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
+  task_specific_sample: mean=531.3ms, total=531.3ms, count=1, min=531.3ms, max=531.3ms
+  scene_randomize: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms
+  mj_forward_sync: mean=482.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:03:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:03:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:03:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:03:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:03:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:03:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:03:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:03:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:03:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:03:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:03:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)
+[05/10 18:03:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:03:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:03:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018891m
+[05/10 18:03:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:03:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:03:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:03:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:03:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:03:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96193819  0.75879599  0.01889082] yaw=-159.7deg
+[05/10 18:03:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:03:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:03:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:03:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97096644  1.10611809  0.01889082] yaw=-129.3deg
+[05/10 18:03:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:03:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:03:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=363.7ms, total=363.8ms
+[05/10 18:03:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.962, 0.759, 0.019)
+[05/10 18:03:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.7 deg
+[05/10 18:03:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.790m
+[05/10 18:03:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:03:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:03:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:03:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:03:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:03:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 18:03:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.059s
+[05/10 18:03:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:03:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:03:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:03:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.591s, found feasible grasp: True
+[05/10 18:03:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.401[m] 101.449[deg]
+[05/10 18:03:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:03:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:03:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:04:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:04:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:04:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:06:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:06:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:06:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:06:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:07:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:07:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:07:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.73s (batch: 4.52s, save: 9.21s)
+[05/10 18:07:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.68s:
+  episode_total: mean=209.82s, total=209.82s, count=1, min=209824.5ms, max=209824.5ms
+  sensor_polling: mean=517.2ms, total=155.16s, count=300, min=442.2ms, max=925.4ms
+  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9206.1ms, max=9206.1ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=15.3ms, max=69.8ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4522.0ms, max=4522.0ms
+  task_sampling: mean=675.0ms, total=675.0ms, count=1, min=675.0ms, max=675.0ms
+  task_specific_sample: mean=671.7ms, total=671.7ms, count=1, min=671.7ms, max=671.7ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=409.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:07:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:07:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:07:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:07:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:07:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:07:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:07:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:07:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:07:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:07:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:07:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
+[05/10 18:07:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:07:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:07:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.050515m
+[05/10 18:07:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:07:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:07:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:07:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80634651  0.31020594  0.05051479] yaw=161.1deg
+[05/10 18:07:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65142662  0.39591575  0.05051479] yaw=186.2deg
+[05/10 18:07:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:07:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:07:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95051527  0.9652761   0.05051479] yaw=-137.9deg
+[05/10 18:07:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:07:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:07:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.1ms, total=150.2ms
+[05/10 18:07:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.806, 0.310, 0.051)
+[05/10 18:07:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.1 deg
+[05/10 18:07:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
+[05/10 18:07:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:07:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:07:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:07:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:07:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:07:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 18:07:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 18:07:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:07:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:07:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/10 18:07:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.558s, found feasible grasp: True
+[05/10 18:07:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.469[m] 91.125[deg]
+[05/10 18:07:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:07:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:07:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:08:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:08:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:08:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:10:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:10:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:10:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:10:38 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:10:51 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:10:51 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:10:51 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.00s (batch: 4.21s, save: 8.79s)
+[05/10 18:10:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.46s:
+  episode_total: mean=219.33s, total=219.33s, count=1, min=219331.9ms, max=219331.9ms
+  sensor_polling: mean=519.6ms, total=155.88s, count=300, min=451.9ms, max=891.4ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8790.9ms, max=8790.9ms
+  physics_step: mean=26.8ms, total=8.03s, count=300, min=16.2ms, max=89.1ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4209.5ms, max=4209.5ms
+  task_sampling: mean=455.6ms, total=455.6ms, count=1, min=455.6ms, max=455.6ms
+  task_specific_sample: mean=451.9ms, total=451.9ms, count=1, min=451.9ms, max=451.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=458.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:10:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:10:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:10:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:10:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:10:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:10:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:10:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:10:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:10:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:10:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:10:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 18:10:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:10:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:10:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082164m
+[05/10 18:10:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:10:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:10:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:10:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:10:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:10:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:10:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:10:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.64766612  0.34329165  0.08216399] yaw=172.6deg
+[05/10 18:10:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:10:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:10:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.3ms, total=237.3ms
+[05/10 18:10:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.648, 0.343, 0.082)
+[05/10 18:10:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg
+[05/10 18:10:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.064m
+[05/10 18:10:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:10:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:10:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:10:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:10:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:10:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 18:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 18:10:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:10:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:10:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 18:10:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.659s, found feasible grasp: True
+[05/10 18:10:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.591[m] 85.656[deg]
+[05/10 18:10:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:12:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:12:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:12:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:13:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:14:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:14:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:14:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:14:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:14:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:14:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.47s (batch: 4.28s, save: 8.19s)
+[05/10 18:14:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
+  episode_total: mean=211.39s, total=211.39s, count=1, min=211393.5ms, max=211393.5ms
+  sensor_polling: mean=543.2ms, total=162.97s, count=300, min=439.1ms, max=1076.8ms
+  physics_step: mean=29.6ms, total=8.87s, count=300, min=15.8ms, max=140.7ms
+  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8189.8ms, max=8189.8ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4276.9ms, max=4276.9ms
+  task_sampling: mean=523.1ms, total=523.1ms, count=1, min=523.1ms, max=523.1ms
+  task_specific_sample: mean=519.6ms, total=519.6ms, count=1, min=519.6ms, max=519.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=436.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:14:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:14:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:14:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:14:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:14:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:14:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:14:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
+[05/10 18:14:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:14:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:14:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059982m
+[05/10 18:14:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:14:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:14:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85145971  0.66191767  0.05998183] yaw=-164.6deg
+[05/10 18:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01775799  0.95797435  0.05998183] yaw=-150.8deg
+[05/10 18:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:14:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:14:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.1ms, total=174.2ms
+[05/10 18:14:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.662, 0.060)
+[05/10 18:14:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.6 deg
+[05/10 18:14:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.870m
+[05/10 18:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:14:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 18:14:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/10 18:14:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:14:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:14:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 18:14:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.652s, found feasible grasp: True
+[05/10 18:14:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.427[m] 82.003[deg]
+[05/10 18:14:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:15:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:15:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:15:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:17:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:17:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:17:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:17:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:17:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:17:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:17:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.56s (batch: 4.27s, save: 10.28s)
+[05/10 18:17:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.49s:
+  episode_total: mean=210.58s, total=210.58s, count=1, min=210579.4ms, max=210579.4ms
+  sensor_polling: mean=534.8ms, total=160.45s, count=300, min=436.5ms, max=927.5ms
+  save_trajectories: mean=10.28s, total=10.28s, count=1, min=10283.3ms, max=10283.3ms
+  physics_step: mean=26.1ms, total=7.83s, count=300, min=16.7ms, max=140.4ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4274.3ms, max=4274.3ms
+  task_sampling: mean=488.0ms, total=488.0ms, count=1, min=488.0ms, max=488.0ms
+  task_specific_sample: mean=484.2ms, total=484.2ms, count=1, min=484.2ms, max=484.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=417.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:17:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:17:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:17:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:17:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:17:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:17:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:17:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:17:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:17:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:17:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
+[05/10 18:17:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:17:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:17:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068430m
+[05/10 18:17:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:17:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:17:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:17:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 148.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94273959  1.22523127  0.06843   ] yaw=-141.3deg
+[05/10 18:17:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:17:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.99422225  0.17772348  0.06843   ] yaw=148.4deg
+[05/10 18:17:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:17:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:17:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:17:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=163.2ms, total=163.2ms
+[05/10 18:17:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.225, 0.068)
+[05/10 18:17:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg
+[05/10 18:17:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.063m
+[05/10 18:17:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:17:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:17:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:17:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:17:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 18:17:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
+[05/10 18:17:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:17:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:17:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/10 18:18:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.857s, found feasible grasp: True
+[05/10 18:18:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.654[m] 94.972[deg]
+[05/10 18:18:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:18:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:18:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:18:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:18:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:18:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:18:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:18:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:18:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:18:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:18:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:18:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
+[05/10 18:18:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:18:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:18:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038993m
+[05/10 18:18:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:18:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:18:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:18:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88463768  0.3593357   0.03899292] yaw=181.9deg
+[05/10 18:18:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:18:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8312515   0.39758058  0.03899292] yaw=178.5deg
+[05/10 18:18:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:18:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:18:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:18:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14670907  1.16207746  0.03899292] yaw=-124.2deg
+[05/10 18:18:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:18:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:18:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms
+[05/10 18:18:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.359, 0.039)
+[05/10 18:18:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 181.9 deg
+[05/10 18:18:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.827m
+[05/10 18:18:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:18:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:18:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:18:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:18:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:18:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 18:18:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.068s
+[05/10 18:18:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:18:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:18:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 18:18:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True
+[05/10 18:18:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.418[m] 93.326[deg]
+[05/10 18:18:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:18:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:18:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:18:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:19:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:19:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:20:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:20:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:20:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:20:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:20:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
+[05/10 18:20:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.440s, found feasible grasp: True
+[05/10 18:20:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.456[deg]
+[05/10 18:20:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:20:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:20:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:21:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:21:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:21:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:21:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:21:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:21:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:21:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 15.88s (batch: 4.38s, save: 11.50s)
+[05/10 18:21:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.92s:
+  episode_total: mean=114.31s, total=228.63s, count=2, min=3729.9ms, max=224898.2ms
+  sensor_polling: mean=527.7ms, total=158.30s, count=300, min=452.5ms, max=899.0ms
+  save_trajectories: mean=11.50s, total=11.50s, count=1, min=11499.6ms, max=11499.6ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=15.5ms, max=92.4ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.6ms, max=4384.6ms
+  task_sampling: mean=461.5ms, total=923.1ms, count=2, min=429.3ms, max=493.8ms
+  task_specific_sample: mean=457.2ms, total=914.4ms, count=2, min=425.5ms, max=488.9ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.6ms, max=3.3ms
+  mj_forward_sync: mean=611.5us, total=1.2ms, count=2, min=0.6ms, max=0.7ms
+  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:21:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:21:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:21:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:21:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:21:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:21:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:21:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:21:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:21:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:21:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:21:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
+[05/10 18:21:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:21:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:21:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075222m
+[05/10 18:21:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:21:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:21:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:21:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:21:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.64104565  0.36985713  0.07522244] yaw=169.8deg
+[05/10 18:21:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:21:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73384642  0.92436935  0.07522244] yaw=-148.0deg
+[05/10 18:21:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:21:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99412053  0.84325952  0.07522244] yaw=-161.5deg
+[05/10 18:21:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:21:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:21:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.6ms, total=238.6ms
+[05/10 18:21:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.370, 0.075)
+[05/10 18:21:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
+[05/10 18:21:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
+[05/10 18:21:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:21:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:21:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:21:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:21:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:21:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 18:21:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.274s
+[05/10 18:21:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:21:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:21:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps
+[05/10 18:21:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.308s, found feasible grasp: True
+[05/10 18:21:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.587[m] 86.633[deg]
+[05/10 18:21:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:23:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:23:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:24:56 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:25:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:25:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:25:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:25:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:25:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:25:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 4.34s, save: 12.13s)
+[05/10 18:25:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.54s:
+  episode_total: mean=227.57s, total=227.57s, count=1, min=227569.9ms, max=227569.9ms
+  sensor_polling: mean=524.8ms, total=157.43s, count=300, min=447.2ms, max=912.4ms
+  save_trajectories: mean=12.13s, total=12.13s, count=1, min=12131.2ms, max=12131.2ms
+  physics_step: mean=27.1ms, total=8.13s, count=300, min=18.9ms, max=85.0ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4341.2ms, max=4341.2ms
+  task_sampling: mean=543.4ms, total=543.4ms, count=1, min=543.4ms, max=543.4ms
+  task_specific_sample: mean=539.0ms, total=539.0ms, count=1, min=539.0ms, max=539.0ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=550.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:25:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:25:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:25:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:25:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:25:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:25:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:25:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:25:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:25:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:25:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:25:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
+[05/10 18:25:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:25:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:25:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060104m
+[05/10 18:25:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:25:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:25:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:25:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:25:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.18248766  1.04491582  0.06010427] yaw=-126.6deg
+[05/10 18:25:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:25:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.09884392  1.12320773  0.06010427] yaw=-132.3deg
+[05/10 18:25:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:25:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84170569  0.6505663   0.06010427] yaw=-173.8deg
+[05/10 18:25:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:25:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:25:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.8ms, total=96.9ms
+[05/10 18:25:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.182, 1.045, 0.060)
+[05/10 18:25:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.6 deg
+[05/10 18:25:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
+[05/10 18:25:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:25:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:25:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:25:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:25:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:25:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 18:25:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 18:25:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:25:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:25:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/10 18:25:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True
+[05/10 18:25:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.307[m] 85.220[deg]
+[05/10 18:25:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:25:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:25:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:26:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:26:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:27:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:27:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:28:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:28:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:28:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:28:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:28:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:28:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:28:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
+[05/10 18:28:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.524s, found feasible grasp: True
+[05/10 18:28:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]
+[05/10 18:28:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:28:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:28:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:28:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:28:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:28:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:28:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:28:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:28:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:28:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:28:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:28:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 18:28:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:28:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:28:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039647m
+[05/10 18:28:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:28:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:28:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:28:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:28:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:28:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:28:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02016365  0.90423889  0.03964739] yaw=-155.0deg
+[05/10 18:28:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:28:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78144903  0.82750756  0.03964739] yaw=-168.7deg
+[05/10 18:28:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:28:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.82113173  0.62159758  0.03964739] yaw=-174.8deg
+[05/10 18:28:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:28:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:28:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.1ms
+[05/10 18:28:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.904, 0.040)
+[05/10 18:28:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.0 deg
+[05/10 18:28:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.802m
+[05/10 18:28:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:28:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:28:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:28:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:28:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:28:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 18:28:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
+[05/10 18:28:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:28:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:28:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 18:28:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.541s, found feasible grasp: True
+[05/10 18:28:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.357[m] 82.190[deg]
+[05/10 18:28:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:28:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:29:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:29:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:31:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:31:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:31:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:31:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
+[05/10 18:31:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:31:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:31:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.06s (batch: 4.58s, save: 9.48s)
+[05/10 18:31:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.82s:
+  episode_total: mean=181.41s, total=362.83s, count=2, min=156899.0ms, max=205926.9ms
+  sensor_polling: mean=512.4ms, total=278.25s, count=543, min=431.9ms, max=1330.4ms
+  physics_step: mean=25.1ms, total=13.65s, count=543, min=14.3ms, max=74.6ms
+  save_trajectories: mean=9.48s, total=9.48s, count=1, min=9480.3ms, max=9480.3ms
+  save_batch_prep: mean=4.58s, total=4.58s, count=1, min=4581.1ms, max=4581.1ms
+  task_sampling: mean=411.0ms, total=822.0ms, count=2, min=393.7ms, max=428.4ms
+  task_specific_sample: mean=407.0ms, total=814.1ms, count=2, min=389.7ms, max=424.3ms
+  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=2.0ms, max=2.6ms
+  mj_forward_sync: mean=429.5us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:31:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:31:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:31:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:31:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:31:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:31:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:31:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:31:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:31:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:31:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:31:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
+[05/10 18:31:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:31:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:31:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018289m
+[05/10 18:31:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:31:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:31:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:31:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:31:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:31:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:31:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72948014  0.29563262  0.01828905] yaw=173.0deg
+[05/10 18:31:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:31:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91788805  0.86952399  0.01828905] yaw=-157.9deg
+[05/10 18:31:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:31:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91773915  0.4636248   0.01828905] yaw=179.0deg
+[05/10 18:31:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:31:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:31:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.6ms, total=156.7ms
+[05/10 18:31:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.296, 0.018)
+[05/10 18:31:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg
+[05/10 18:31:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.991m
+[05/10 18:31:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:31:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:31:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:31:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:31:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:31:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 18:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/10 18:31:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:31:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:31:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 18:31:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True
+[05/10 18:31:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.505[m] 80.734[deg]
+[05/10 18:31:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:31:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:31:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:32:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:32:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:34:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:34:59 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:34:59 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:34:59 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:35:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:35:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:35:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.63s (batch: 3.83s, save: 8.80s)
+[05/10 18:35:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.49s:
+  episode_total: mean=205.44s, total=205.44s, count=1, min=205436.1ms, max=205436.1ms
+  sensor_polling: mean=498.1ms, total=149.42s, count=300, min=392.1ms, max=825.3ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8802.3ms, max=8802.3ms
+  physics_step: mean=25.0ms, total=7.50s, count=300, min=15.2ms, max=93.1ms
+  save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3828.7ms, max=3828.7ms
+  task_sampling: mean=488.9ms, total=488.9ms, count=1, min=488.9ms, max=488.9ms
+  task_specific_sample: mean=483.9ms, total=483.9ms, count=1, min=483.9ms, max=483.9ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=649.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:35:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:35:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:35:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:35:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:35:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:35:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:35:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:35:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:35:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:35:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:35:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 18:35:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:35:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:35:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077791m
+[05/10 18:35:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:35:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:35:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:35:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:35:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:35:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:35:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67987151  0.57744211  0.077791  ] yaw=-185.0deg
+[05/10 18:35:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:35:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:35:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06018167  1.07918455  0.077791  ] yaw=-146.3deg
+[05/10 18:35:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:35:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.71930994  0.6029005   0.077791  ] yaw=-177.5deg
+[05/10 18:35:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:35:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:35:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.3ms
+[05/10 18:35:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.577, 0.078)
+[05/10 18:35:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -185.0 deg
+[05/10 18:35:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
+[05/10 18:35:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:35:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:35:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:35:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:35:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:35:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 18:35:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.141s
+[05/10 18:35:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:35:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:35:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 18:35:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.627s, found feasible grasp: True
+[05/10 18:35:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.612[m] 98.253[deg]
+[05/10 18:35:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:35:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:35:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:36:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:36:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:36:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:36:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:36:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:36:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:36:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:36:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:36:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:36:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:36:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:36:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:36:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:36:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 82 non-colliding grasps
+[05/10 18:36:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 7.933s, found feasible grasp: True
+[05/10 18:36:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 4 (originally 4): w/ 0.281[m] 1.523[deg]
+[05/10 18:36:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:36:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:36:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:36:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:36:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:36:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:36:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:37:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:37:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:37:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:37:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 18:37:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:37:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:37:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 72 non-colliding grasps
+[05/10 18:37:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 72 grasps in 4.610s, found feasible grasp: True
+[05/10 18:37:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 105 (originally 105): w/ 0.171[m] 6.416[deg]
+[05/10 18:37:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:37:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:37:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:37:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:37:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:37:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:37:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:37:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:37:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:37:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:37:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:37:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
+[05/10 18:37:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:37:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:37:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068088m
+[05/10 18:37:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:37:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:37:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:37:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69885532  0.8514408   0.06808755] yaw=-159.5deg
+[05/10 18:37:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:37:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87694431  0.39150956  0.06808755] yaw=171.7deg
+[05/10 18:37:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:37:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83458224  0.99870275  0.06808755] yaw=-147.3deg
+[05/10 18:37:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:37:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:37:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.9ms
+[05/10 18:37:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.699, 0.851, 0.068)
+[05/10 18:37:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.5 deg
+[05/10 18:37:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.069m
+[05/10 18:37:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:37:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:37:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:37:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:37:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:37:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 18:37:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 18:37:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:37:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:37:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 18:37:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.074s, found feasible grasp: True
+[05/10 18:37:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.624[m] 91.773[deg]
+[05/10 18:37:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:38:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:38:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:38:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:39:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:40:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:40:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:40:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:40:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:40:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:40:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.10s (batch: 3.82s, save: 7.28s)
+[05/10 18:40:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.94s:
+  episode_total: mean=147.89s, total=295.77s, count=2, min=115395.4ms, max=180375.7ms
+  sensor_polling: mean=453.2ms, total=208.94s, count=461, min=380.8ms, max=858.2ms
+  physics_step: mean=20.6ms, total=9.48s, count=461, min=12.3ms, max=68.6ms
+  save_trajectories: mean=7.28s, total=7.28s, count=1, min=7278.4ms, max=7278.4ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3818.8ms, max=3818.8ms
+  task_sampling: mean=472.5ms, total=944.9ms, count=2, min=397.7ms, max=547.3ms
+  task_specific_sample: mean=468.5ms, total=936.9ms, count=2, min=394.0ms, max=542.9ms
+  scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.6ms, max=3.0ms
+  mj_forward_sync: mean=549.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:40:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:40:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:40:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:40:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:40:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:40:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:40:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:40:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:40:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:40:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:40:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 18:40:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:40:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:40:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055230m
+[05/10 18:40:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:40:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:40:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:40:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:40:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98802913  0.77941833  0.05522998] yaw=-151.1deg
+[05/10 18:40:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:40:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84023759  0.32563108  0.05522998] yaw=162.2deg
+[05/10 18:40:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:40:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:40:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:40:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.67306965  0.86819006  0.05522998] yaw=-153.6deg
+[05/10 18:40:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:40:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:40:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.2ms, total=143.2ms
+[05/10 18:40:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.779, 0.055)
+[05/10 18:40:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.1 deg
+[05/10 18:40:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.774m
+[05/10 18:40:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:40:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:40:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:40:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:40:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:40:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 18:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 18:40:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:40:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:40:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 18:40:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.461s, found feasible grasp: True
+[05/10 18:40:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.369[m] 89.154[deg]
+[05/10 18:40:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:40:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:40:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:40:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:41:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:42:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:42:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:42:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:42:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 296 timesteps
+[05/10 18:43:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:43:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:43:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.96s (batch: 3.85s, save: 8.11s)
+[05/10 18:43:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
+  episode_total: mean=170.90s, total=170.90s, count=1, min=170895.1ms, max=170895.1ms
+  sensor_polling: mean=427.3ms, total=126.04s, count=295, min=372.7ms, max=805.4ms
+  save_trajectories: mean=8.11s, total=8.11s, count=1, min=8110.2ms, max=8110.2ms
+  physics_step: mean=20.4ms, total=6.03s, count=295, min=13.5ms, max=45.9ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3850.4ms, max=3850.4ms
+  task_sampling: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
+  task_specific_sample: mean=401.1ms, total=401.1ms, count=1, min=401.1ms, max=401.1ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=383.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:43:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:43:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:43:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:43:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:43:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:43:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:43:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:43:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:43:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:43:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)
+[05/10 18:43:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:43:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:43:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036145m
+[05/10 18:43:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:43:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:43:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:43:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:43:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88305361  1.11725947  0.03614477] yaw=-136.0deg
+[05/10 18:43:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:43:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:43:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:43:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:43:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08304382  1.07871692  0.03614477] yaw=-145.1deg
+[05/10 18:43:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:43:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.96054729  0.13942707  0.03614477] yaw=152.4deg
+[05/10 18:43:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:43:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:43:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.9ms, total=128.9ms
+[05/10 18:43:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.883, 1.117, 0.036)
+[05/10 18:43:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.0 deg
+[05/10 18:43:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.037m
+[05/10 18:43:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:43:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:43:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:43:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:43:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:43:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 18:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 18:43:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:43:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:43:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:43:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.544s, found feasible grasp: True
+[05/10 18:43:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.596[m] 90.584[deg]
+[05/10 18:43:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:43:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:43:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:44:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:44:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:44:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:45:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:45:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:45:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:45:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:45:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 76 non-colliding grasps
+[05/10 18:45:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.299s, found feasible grasp: True
+[05/10 18:45:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.622[deg]
+[05/10 18:45:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:45:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:45:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:45:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 2/4: 1 episodes
+[05/10 18:45:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:46:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:46:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:46:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.10s (batch: 3.79s, save: 7.31s)
+[05/10 18:46:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.39s:
+  episode_total: mean=181.27s, total=181.27s, count=1, min=181268.6ms, max=181268.6ms
+  sensor_polling: mean=421.2ms, total=126.37s, count=300, min=364.4ms, max=778.3ms
+  save_trajectories: mean=7.31s, total=7.31s, count=1, min=7309.2ms, max=7309.2ms
+  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.6ms, max=62.3ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.1ms, max=3790.1ms
+  task_sampling: mean=388.4ms, total=388.4ms, count=1, min=388.4ms, max=388.4ms
+  task_specific_sample: mean=384.9ms, total=384.9ms, count=1, min=384.9ms, max=384.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=390.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:46:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:46:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:46:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:46:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:46:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:46:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:46:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:46:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
+[05/10 18:46:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:46:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:46:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016724m
+[05/10 18:46:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:46:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:46:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.01105646  1.24629312  0.01672395] yaw=-123.5deg
+[05/10 18:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6744023   0.17334093  0.01672395] yaw=155.8deg
+[05/10 18:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0912006   0.95800413  0.01672395] yaw=-137.6deg
+[05/10 18:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:46:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:46:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.2ms, total=61.2ms
+[05/10 18:46:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.011, 1.246, 0.017)
+[05/10 18:46:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.5 deg
+[05/10 18:46:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
+[05/10 18:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:46:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:46:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 18:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
+[05/10 18:46:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:46:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:46:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 18:46:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.636s, found feasible grasp: True
+[05/10 18:46:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.609[m] 90.362[deg]
+[05/10 18:46:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:47:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:47:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:47:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:47:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:47:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:47:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:47:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:47:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:47:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:47:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:47:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:47:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:47:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:47:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 86 non-colliding grasps
+[05/10 18:47:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 86 grasps in 1.326s, found feasible grasp: False
+[05/10 18:47:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 18:47:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
+[05/10 18:47:56 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
+[05/10 18:47:56 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/14 successful episodes
+[05/10 18:47:56 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5989.18s
+  House averages:
+  episode_total: mean=183.40s, total=3301.12s, count=18, min=3729.9ms, max=273904.3ms
+  sensor_polling: mean=497.7ms, total=2364.17s, count=4750, min=362.6ms, max=1330.4ms
+  save_trajectories: mean=9.37s, total=121.80s, count=13, min=7278.4ms, max=12131.2ms
+  physics_step: mean=24.4ms, total=115.96s, count=4750, min=12.3ms, max=140.7ms
+  save_batch_prep: mean=4.27s, total=55.57s, count=13, min=3790.1ms, max=5216.9ms
+  task_sampling: mean=707.0ms, total=12.73s, count=18, min=357.5ms, max=4598.7ms
+  task_specific_sample: mean=489.9ms, total=8.82s, count=18, min=353.9ms, max=765.1ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=5.5ms
+  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  mj_forward_sync: mean=477.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 18:47:56 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 18:47:56 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5989.18s
+  Worker averages:
+  episode_total: mean=183.40s, total=3301.12s, count=18, min=3729.9ms, max=273904.3ms
+  sensor_polling: mean=497.7ms, total=2364.17s, count=4750, min=362.6ms, max=1330.4ms
+  save_trajectories: mean=9.37s, total=121.80s, count=13, min=7278.4ms, max=12131.2ms
+  physics_step: mean=24.4ms, total=115.96s, count=4750, min=12.3ms, max=140.7ms
+  save_batch_prep: mean=4.27s, total=55.57s, count=13, min=3790.1ms, max=5216.9ms
+  task_sampling: mean=707.0ms, total=12.73s, count=18, min=357.5ms, max=4598.7ms
+  task_specific_sample: mean=489.9ms, total=8.82s, count=18, min=353.9ms, max=765.1ms
+  scene_load: mean=3.83s, total=3.83s, count=1, min=3830.5ms, max=3830.5ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2480.5ms, max=2480.5ms
+  scene_compile: mean=1.21s, total=1.21s, count=1, min=1207.6ms, max=1207.6ms
+  compile_mujoco: mean=736.0ms, total=736.0ms, count=1, min=736.0ms, max=736.0ms
+  compile_xml_load: mean=395.0ms, total=395.0ms, count=1, min=395.0ms, max=395.0ms
+  scene_init: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  scene_asset_install: mean=61.9ms, total=61.9ms, count=1, min=61.9ms, max=61.9ms
+  asset_install_grasps: mean=50.3ms, total=50.3ms, count=1, min=50.3ms, max=50.3ms
+  scene_randomize: mean=2.5ms, total=45.5ms, count=18, min=1.2ms, max=5.5ms
+  compile_aux_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_aux_policy_objects: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_robot_add: mean=23.6ms, total=23.6ms, count=1, min=23.6ms, max=23.6ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  mj_forward_sync: mean=477.8us, total=8.6ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.8us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 18:47:58 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 18:47:58 INFO pipeline.py:1491] Success count: 13, Total count: 14
+[05/10 18:47:58 INFO pipeline.py:1492] Success rate: 92.86%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_005
+==========================================
diff --git a/fridge_7/chunk_005/shard_3_of_4.log b/fridge_7/chunk_005/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..8ecd80a3d45269550e845a7900ac1edaab9fa029
--- /dev/null
+++ b/fridge_7/chunk_005/shard_3_of_4.log
@@ -0,0 +1,1681 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_005
+  shard=3/4  seed=20503  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:52:24 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 17:52:24 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 17:52:24 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_005'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 17:52:25 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7c7784638ad0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20503,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:52:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 17:52:25 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 17:52:25 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 136852760889872 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 136852760889872 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 136852760889872 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 136852760889872 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 136852762820048 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136852762820048 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136852762818192 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136852762818192 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136852762818192 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136852762818192 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136852762820048 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136852762820048 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136852760937232 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136852760937232 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136852760948752 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136852760948752 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 136852760948752 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136852760948752 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136852760937232 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136852760937232 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 17:52:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f7256ec4040 at 0x7c7784bd1650>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f7256ef1be0 at 0x7c778481aad0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f7256ef1be0 at 0x7c7784b64350>
+[05/10 17:52:27 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 17:52:27 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:52:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
+[05/10 17:52:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:52:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:52:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044562m
+[05/10 17:52:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:52:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 17:52:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 152.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75061833  0.47104023  0.04456229] yaw=178.0deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79196793  0.90462043  0.04456229] yaw=-151.6deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=35.6ms, retries=417.5ms, total=453.1ms
+[05/10 17:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.751, 0.471, 0.045)
+[05/10 17:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.952m
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:52:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:52:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 17:53:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 33.522s
+[05/10 17:53:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:53:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:53:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 17:53:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.728s, found feasible grasp: True
+[05/10 17:53:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.538[m] 101.375[deg]
+[05/10 17:53:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:54:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:54:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:55:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 17:56:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:56:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 17:56:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:56:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 17:56:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:56:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 4.37s, save: 12.04s)
+[05/10 17:56:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.87s:
+  episode_total: mean=253.79s, total=253.79s, count=1, min=253785.6ms, max=253785.6ms
+  sensor_polling: mean=528.0ms, total=158.39s, count=300, min=458.1ms, max=909.0ms
+  save_trajectories: mean=12.04s, total=12.04s, count=1, min=12041.4ms, max=12041.4ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=18.8ms, max=69.8ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4365.9ms, max=4365.9ms
+  task_sampling: mean=3.87s, total=3.87s, count=1, min=3869.8ms, max=3869.8ms
+  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
+  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
+  task_specific_sample: mean=795.5ms, total=795.5ms, count=1, min=795.5ms, max=795.5ms
+  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
+  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
+  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
+  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
+  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=578.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=39.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:56:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:56:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:56:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:56:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:56:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:56:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 17:56:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:56:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:56:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081843m
+[05/10 17:56:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:56:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:56:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71870329  0.06497328  0.08184281] yaw=158.7deg
+[05/10 17:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:56:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01619692  1.05900576  0.08184281] yaw=-144.9deg
+[05/10 17:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:56:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83189719  0.82154528  0.08184281] yaw=-167.0deg
+[05/10 17:56:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:56:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:56:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.7ms, total=167.8ms
+[05/10 17:56:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.065, 0.082)
+[05/10 17:56:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg
+[05/10 17:56:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.068m
+[05/10 17:56:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:56:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 17:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.119s
+[05/10 17:56:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:56:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:56:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 17:56:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.319s, found feasible grasp: True
+[05/10 17:56:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.655[m] 89.741[deg]
+[05/10 17:56:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:56:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:56:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:56:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:56:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:56:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:56:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:56:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
+[05/10 17:56:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:56:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:56:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098587m
+[05/10 17:56:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:56:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:56:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:56:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.67664378  0.11123131  0.09858703] yaw=151.2deg
+[05/10 17:56:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:56:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79853059  0.23105954  0.09858703] yaw=154.6deg
+[05/10 17:56:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:56:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:56:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=192.6ms, total=192.6ms
+[05/10 17:56:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.111, 0.099)
+[05/10 17:56:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 151.2 deg
+[05/10 17:56:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.091m
+[05/10 17:56:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:56:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 17:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 17:56:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:56:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:56:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 17:56:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.746s, found feasible grasp: True
+[05/10 17:56:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.632[m] 87.794[deg]
+[05/10 17:56:50 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:56:51 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:56:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:56:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:56:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:56:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:56:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:56:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/10 17:56:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:56:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:56:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061943m
+[05/10 17:56:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:56:51 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:56:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:56:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01264304  0.82941253  0.06194339] yaw=-151.9deg
+[05/10 17:56:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:56:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.859553    0.40260025  0.06194339] yaw=170.0deg
+[05/10 17:56:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:56:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84360722  0.56367516  0.06194339] yaw=-181.0deg
+[05/10 17:56:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:56:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:56:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.4ms, total=179.4ms
+[05/10 17:56:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.013, 0.829, 0.062)
+[05/10 17:56:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.9 deg
+[05/10 17:56:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.772m
+[05/10 17:56:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:56:52 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 17:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 17:56:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:56:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:56:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 17:56:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
+[05/10 17:56:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.344[m] 86.459[deg]
+[05/10 17:56:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:56:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:56:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:57:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:57:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:59:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:00:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:00:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:00:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
+[05/10 18:00:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:00:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:00:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.69s (batch: 4.47s, save: 10.22s)
+[05/10 18:00:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.34s:
+  episode_total: mean=70.70s, total=212.10s, count=3, min=3726.0ms, max=204327.6ms
+  sensor_polling: mean=525.5ms, total=151.87s, count=289, min=451.3ms, max=778.8ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10219.1ms, max=10219.1ms
+  physics_step: mean=25.1ms, total=7.26s, count=289, min=16.1ms, max=68.6ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4471.7ms, max=4471.7ms
+  task_sampling: mean=446.8ms, total=1.34s, count=3, min=430.8ms, max=455.3ms
+  task_specific_sample: mean=443.4ms, total=1.33s, count=3, min=428.2ms, max=451.1ms
+  scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=469.1us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 18:00:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:00:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:00:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:00:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:00:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:00:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:00:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:00:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:00:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:00:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:00:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 18:00:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:00:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:00:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020791m
+[05/10 18:00:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:00:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:00:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:00:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87133104  0.90343635  0.02079084] yaw=-146.2deg
+[05/10 18:00:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:00:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92269707  0.66565586  0.02079084] yaw=-172.9deg
+[05/10 18:00:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:00:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:00:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.9436341   0.42249769  0.02079084] yaw=171.4deg
+[05/10 18:00:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:00:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:00:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.5ms, total=101.5ms
+[05/10 18:00:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.903, 0.021)
+[05/10 18:00:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.2 deg
+[05/10 18:00:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.932m
+[05/10 18:00:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:00:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:00:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:00:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:00:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:00:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 18:00:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
+[05/10 18:00:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:00:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:00:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 18:00:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
+[05/10 18:00:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.530[m] 96.765[deg]
+[05/10 18:00:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:00:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:00:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:01:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:01:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:03:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:03:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:03:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:03:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:03:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:03:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:03:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.81s (batch: 4.82s, save: 9.99s)
+[05/10 18:03:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.47s:
+  episode_total: mean=207.34s, total=207.34s, count=1, min=207339.7ms, max=207339.7ms
+  sensor_polling: mean=510.7ms, total=153.20s, count=300, min=441.3ms, max=852.2ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9991.6ms, max=9991.6ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=18.1ms, max=68.0ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4815.4ms, max=4815.4ms
+  task_sampling: mean=467.2ms, total=467.2ms, count=1, min=467.2ms, max=467.2ms
+  task_specific_sample: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=646.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=29.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:03:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:03:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:03:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:03:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:03:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:03:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:03:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:03:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:03:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:03:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:03:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
+[05/10 18:03:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:03:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:03:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075855m
+[05/10 18:03:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:03:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:03:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95667409  0.25810516  0.07585462] yaw=156.0deg
+[05/10 18:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 128.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:03:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:03:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.75685142  0.65980208  0.07585462] yaw=-167.3deg
+[05/10 18:03:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:03:47 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:03:47 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.0ms, total=258.0ms
+[05/10 18:03:47 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.957, 0.258, 0.076)
+[05/10 18:03:47 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg
+[05/10 18:03:47 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.779m
+[05/10 18:03:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:03:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:03:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:03:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:03:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:03:47 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 18:03:47 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.116s
+[05/10 18:03:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:03:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:03:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 18:03:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.240s, found feasible grasp: True
+[05/10 18:03:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.376[m] 104.127[deg]
+[05/10 18:03:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:04:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:05:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:05:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:05:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:05:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:05:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:05:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:05:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:05:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:05:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:05:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:05:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/10 18:05:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.503s, found feasible grasp: True
+[05/10 18:05:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.538[deg]
+[05/10 18:05:36 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:05:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:05:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:05:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:05:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:05:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:05:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:05:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:05:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:05:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:05:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:05:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 18:05:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:05:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:05:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054508m
+[05/10 18:05:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:05:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:05:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:05:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02975878  1.15674543  0.05450836] yaw=-140.8deg
+[05/10 18:05:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:05:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:05:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:05:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80355663  0.68283201  0.05450836] yaw=-177.0deg
+[05/10 18:05:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:05:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:05:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.8674806   0.57773193  0.05450836] yaw=-168.2deg
+[05/10 18:05:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:05:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:05:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.5ms, total=153.6ms
+[05/10 18:05:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.030, 1.157, 0.055)
+[05/10 18:05:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg
+[05/10 18:05:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.953m
+[05/10 18:05:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:05:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:05:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:05:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:05:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:05:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 18:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 18:05:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:05:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:05:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:05:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.928s, found feasible grasp: True
+[05/10 18:05:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.510[m] 85.708[deg]
+[05/10 18:05:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:05:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:05:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:05:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:05:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:05:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:05:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:05:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:05:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:05:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:05:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:05:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
+[05/10 18:05:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:05:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:05:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034262m
+[05/10 18:05:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:05:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:05:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:05:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62427414  0.36980578  0.03426181] yaw=175.7deg
+[05/10 18:05:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:05:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:05:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:05:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78898383  1.07154827  0.03426181] yaw=-146.9deg
+[05/10 18:05:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:05:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85054235  0.21425112  0.03426181] yaw=167.7deg
+[05/10 18:05:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:05:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:05:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=240.7ms, total=240.7ms
+[05/10 18:05:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.370, 0.034)
+[05/10 18:05:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg
+[05/10 18:05:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.084m
+[05/10 18:05:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:05:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:05:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:05:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:05:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:05:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 18:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 18:05:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:05:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:05:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 18:05:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.747s, found feasible grasp: True
+[05/10 18:05:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.668[m] 100.006[deg]
+[05/10 18:05:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:07:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:07:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:08:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:08:55 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:08:55 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:08:55 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:09:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:09:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:09:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.41s (batch: 5.36s, save: 11.05s)
+[05/10 18:09:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.54s:
+  episode_total: mean=107.36s, total=322.08s, count=3, min=2846.3ms, max=209344.5ms
+  sensor_polling: mean=507.0ms, total=238.81s, count=471, min=439.9ms, max=889.2ms
+  physics_step: mean=25.8ms, total=12.13s, count=471, min=16.2ms, max=89.4ms
+  save_trajectories: mean=11.05s, total=11.05s, count=1, min=11046.4ms, max=11046.4ms
+  save_batch_prep: mean=5.36s, total=5.36s, count=1, min=5362.1ms, max=5362.1ms
+  task_sampling: mean=513.5ms, total=1.54s, count=3, min=426.5ms, max=572.3ms
+  task_specific_sample: mean=510.0ms, total=1.53s, count=3, min=423.3ms, max=568.6ms
+  scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=422.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 18:09:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:09:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:09:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:09:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:09:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:09:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:09:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:09:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:09:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:09:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:09:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
+[05/10 18:09:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:09:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:09:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039203m
+[05/10 18:09:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:09:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:09:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:09:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85255681  0.8583814   0.03920265] yaw=-152.1deg
+[05/10 18:09:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:09:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:09:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:09:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94283526  0.52132514  0.03920265] yaw=-177.9deg
+[05/10 18:09:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:09:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79717038  0.65299914  0.03920265] yaw=-164.1deg
+[05/10 18:09:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:09:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:09:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.5ms, total=116.5ms
+[05/10 18:09:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.858, 0.039)
+[05/10 18:09:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg
+[05/10 18:09:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.929m
+[05/10 18:09:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:09:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:09:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:09:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:09:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:09:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 18:09:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 18:09:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:09:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:09:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 18:09:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.795s, found feasible grasp: True
+[05/10 18:09:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.500[m] 89.534[deg]
+[05/10 18:09:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:10:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:10:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:10:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:12:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:12:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:12:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:12:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:12:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:12:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:12:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.33s (batch: 4.54s, save: 9.78s)
+[05/10 18:12:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.39s:
+  episode_total: mean=211.47s, total=211.47s, count=1, min=211470.2ms, max=211470.2ms
+  sensor_polling: mean=518.2ms, total=155.45s, count=300, min=447.5ms, max=953.7ms
+  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9784.4ms, max=9784.4ms
+  physics_step: mean=24.1ms, total=7.24s, count=300, min=18.4ms, max=47.7ms
+  save_batch_prep: mean=4.54s, total=4.54s, count=1, min=4544.6ms, max=4544.6ms
+  task_sampling: mean=387.1ms, total=387.1ms, count=1, min=387.1ms, max=387.1ms
+  task_specific_sample: mean=383.2ms, total=383.2ms, count=1, min=383.2ms, max=383.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=438.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:12:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:12:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:12:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:12:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:12:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:12:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:12:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:12:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:12:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:12:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:12:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 18:12:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:12:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:12:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054997m
+[05/10 18:12:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:12:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:12:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:12:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:12:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:12:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9716756   0.99335929  0.05499689] yaw=-149.5deg
+[05/10 18:12:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:12:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70604843  0.38125246  0.05499689] yaw=164.7deg
+[05/10 18:12:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:12:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95207794  0.56246207  0.05499689] yaw=-166.9deg
+[05/10 18:12:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:12:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:12:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.9ms, total=415.9ms
+[05/10 18:12:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.993, 0.055)
+[05/10 18:12:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.5 deg
+[05/10 18:12:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
+[05/10 18:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:12:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:12:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:12:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 18:12:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s
+[05/10 18:12:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:12:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:12:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps
+[05/10 18:12:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.632s, found feasible grasp: True
+[05/10 18:12:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.484[m] 91.929[deg]
+[05/10 18:12:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:12:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:12:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:13:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:13:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:13:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:15:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:16:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:16:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:16:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:16:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:16:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:16:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.91s (batch: 4.29s, save: 12.62s)
+[05/10 18:16:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.74s:
+  episode_total: mean=213.98s, total=213.98s, count=1, min=213981.7ms, max=213981.7ms
+  sensor_polling: mean=519.7ms, total=155.90s, count=300, min=444.6ms, max=942.3ms
+  save_trajectories: mean=12.62s, total=12.62s, count=1, min=12617.2ms, max=12617.2ms
+  physics_step: mean=25.5ms, total=7.65s, count=300, min=18.6ms, max=132.9ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4293.4ms, max=4293.4ms
+  task_sampling: mean=742.2ms, total=742.2ms, count=1, min=742.2ms, max=742.2ms
+  task_specific_sample: mean=737.7ms, total=737.7ms, count=1, min=737.7ms, max=737.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=528.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:16:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:16:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:16:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:16:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:16:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:16:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:16:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:16:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:16:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:16:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:16:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 18:16:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:16:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:16:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073673m
+[05/10 18:16:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:16:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:16:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:16:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:16:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:16:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:16:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.65207323  0.27360683  0.07367289] yaw=164.5deg
+[05/10 18:16:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:16:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93291151  0.95310248  0.07367289] yaw=-153.7deg
+[05/10 18:16:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:16:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64378631  0.25175625  0.07367289] yaw=178.5deg
+[05/10 18:16:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:16:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:16:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=155.8ms, total=155.8ms
+[05/10 18:16:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.274, 0.074)
+[05/10 18:16:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.5 deg
+[05/10 18:16:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.071m
+[05/10 18:16:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:16:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:16:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:16:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:16:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:16:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 18:16:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 18:16:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:16:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:16:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 18:16:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.791s, found feasible grasp: True
+[05/10 18:16:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.633[m] 93.970[deg]
+[05/10 18:16:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:16:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:17:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:17:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:18:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:18:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:18:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:18:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:18:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:18:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:18:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:18:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 80 non-colliding grasps
+[05/10 18:18:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.145s, found feasible grasp: True
+[05/10 18:18:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.322[deg]
+[05/10 18:18:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:18:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:18:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:18:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:18:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:18:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:18:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:19:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:19:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:19:11 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 18:19:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:19:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:19:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
+[05/10 18:19:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.675s, found feasible grasp: True
+[05/10 18:19:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.863[deg]
+[05/10 18:19:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:19:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:19:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:19:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:19:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:19:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:19:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:19:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 18:19:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:19:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:19:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 68 non-colliding grasps
+[05/10 18:19:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 3.818s, found feasible grasp: True
+[05/10 18:19:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.415[deg]
+[05/10 18:19:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:19:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=False
+[05/10 18:19:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=False episode_total=0.58s:
+  episode_total: mean=216.24s, total=216.24s, count=1, min=216236.3ms, max=216236.3ms
+  sensor_polling: mean=528.0ms, total=158.41s, count=300, min=449.5ms, max=1013.4ms
+  physics_step: mean=24.8ms, total=7.44s, count=300, min=15.3ms, max=91.5ms
+  task_sampling: mean=583.0ms, total=583.0ms, count=1, min=583.0ms, max=583.0ms
+  task_specific_sample: mean=578.0ms, total=578.0ms, count=1, min=578.0ms, max=578.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=643.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:20:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:20:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:20:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:20:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:20:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:20:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:20:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:20:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:20:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:20:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:20:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 18:20:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:20:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:20:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077890m
+[05/10 18:20:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:20:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:20:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:20:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:20:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93791047  1.03131512  0.07789031] yaw=-135.4deg
+[05/10 18:20:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:20:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70608097  0.5469937   0.07789031] yaw=-172.4deg
+[05/10 18:20:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:20:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:20:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.62843384  0.46386394  0.07789031] yaw=187.1deg
+[05/10 18:20:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:20:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:20:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms
+[05/10 18:20:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 1.031, 0.078)
+[05/10 18:20:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.4 deg
+[05/10 18:20:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.941m
+[05/10 18:20:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:20:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:20:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:20:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:20:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:20:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 18:20:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 18:20:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:20:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:20:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 18:20:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.764s, found feasible grasp: True
+[05/10 18:20:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.547[m] 98.243[deg]
+[05/10 18:20:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:21:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:22:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:23:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:23:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:23:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:23:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:23:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:23:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 15.84s (batch: 4.52s, save: 11.31s)
+[05/10 18:23:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.45s:
+  episode_total: mean=212.68s, total=212.68s, count=1, min=212682.4ms, max=212682.4ms
+  sensor_polling: mean=513.0ms, total=153.91s, count=300, min=434.2ms, max=1001.7ms
+  save_trajectories: mean=11.31s, total=11.31s, count=1, min=11314.4ms, max=11314.4ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.7ms, max=91.2ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4524.7ms, max=4524.7ms
+  task_sampling: mean=449.8ms, total=449.8ms, count=1, min=449.8ms, max=449.8ms
+  task_specific_sample: mean=446.1ms, total=446.1ms, count=1, min=446.1ms, max=446.1ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=415.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:23:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:23:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:23:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:23:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:23:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:23:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:23:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:23:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:23:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:23:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
+[05/10 18:23:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:23:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:23:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096006m
+[05/10 18:23:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:23:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:23:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:23:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:23:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:23:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:23:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82558658  1.01707047  0.0960055 ] yaw=-144.3deg
+[05/10 18:23:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:23:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:23:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68222768  0.25559594  0.0960055 ] yaw=169.3deg
+[05/10 18:23:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:23:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91870825  0.32265661  0.0960055 ] yaw=161.7deg
+[05/10 18:23:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:23:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:23:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms
+[05/10 18:23:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.826, 1.017, 0.096)
+[05/10 18:23:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.3 deg
+[05/10 18:23:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
+[05/10 18:23:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:23:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:23:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:23:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:23:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 18:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 18:23:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:23:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:23:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:23:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.649s, found feasible grasp: True
+[05/10 18:23:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.571[m] 82.236[deg]
+[05/10 18:23:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:23:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:23:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:26:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:26:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:26:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:26:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:27:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:27:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:27:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.06s (batch: 4.32s, save: 8.74s)
+[05/10 18:27:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.51s:
+  episode_total: mean=208.89s, total=208.89s, count=1, min=208894.6ms, max=208894.6ms
+  sensor_polling: mean=514.2ms, total=154.27s, count=300, min=441.5ms, max=873.2ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8738.9ms, max=8738.9ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.8ms, max=72.0ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4322.3ms, max=4322.3ms
+  task_sampling: mean=508.4ms, total=508.4ms, count=1, min=508.4ms, max=508.4ms
+  task_specific_sample: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=419.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:27:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:27:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:27:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:27:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:27:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:27:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:27:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:27:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:27:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:27:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:27:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
+[05/10 18:27:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:27:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:27:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075829m
+[05/10 18:27:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:27:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:27:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 113.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02618609  1.19906698  0.07582945] yaw=-141.3deg
+[05/10 18:27:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:27:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74269091  0.1592268   0.07582945] yaw=155.6deg
+[05/10 18:27:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:27:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:27:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.5ms, total=181.6ms
+[05/10 18:27:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.199, 0.076)
+[05/10 18:27:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.3 deg
+[05/10 18:27:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.986m
+[05/10 18:27:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:27:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:27:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:27:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:27:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:27:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 18:27:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 18:27:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:27:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:27:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:27:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.404s, found feasible grasp: True
+[05/10 18:27:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.574[m] 86.801[deg]
+[05/10 18:27:09 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:27:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:27:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:27:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:27:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:27:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:27:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:27:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:27:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:27:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:27:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:27:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 18:27:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:27:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:27:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024870m
+[05/10 18:27:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:27:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:27:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:27:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83286312  0.18988912  0.02486981] yaw=164.8deg
+[05/10 18:27:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:27:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88542476  0.93948386  0.02486981] yaw=-155.2deg
+[05/10 18:27:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:27:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95863129  1.18170033  0.02486981] yaw=-125.9deg
+[05/10 18:27:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:27:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:27:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.0ms, total=112.0ms
+[05/10 18:27:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.190, 0.025)
+[05/10 18:27:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.8 deg
+[05/10 18:27:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.917m
+[05/10 18:27:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:27:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:27:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:27:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:27:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:27:11 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 18:27:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 18:27:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:27:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:27:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 18:27:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.460s, found feasible grasp: True
+[05/10 18:27:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.443[m] 86.661[deg]
+[05/10 18:27:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:27:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:27:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:27:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:28:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:28:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:29:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:29:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:29:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:29:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:29:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:29:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.419s, found feasible grasp: True
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.802[deg]
+[05/10 18:29:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:30:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:30:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:30:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:30:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:30:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:30:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:30:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:30:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:30:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:30:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 14.28s (batch: 4.26s, save: 10.01s)
+[05/10 18:30:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.85s:
+  episode_total: mean=114.75s, total=229.49s, count=2, min=3081.0ms, max=226413.7ms
+  sensor_polling: mean=521.1ms, total=156.33s, count=300, min=444.4ms, max=1305.6ms
+  save_trajectories: mean=10.01s, total=10.01s, count=1, min=10013.7ms, max=10013.7ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=14.1ms, max=122.5ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4261.4ms, max=4261.4ms
+  task_sampling: mean=425.4ms, total=850.7ms, count=2, min=362.2ms, max=488.6ms
+  task_specific_sample: mean=422.0ms, total=844.1ms, count=2, min=359.2ms, max=484.9ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=404.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:30:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:30:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:30:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:30:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:30:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:30:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:30:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:30:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:30:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:30:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:30:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
+[05/10 18:30:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:30:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:30:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000533m
+[05/10 18:30:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:30:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:30:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:30:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-6.32542992e-01  3.56547225e-01  5.32749062e-04] yaw=183.6deg
+[05/10 18:30:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:30:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:30:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:30:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.20997937e-01  7.33108986e-01  5.32749062e-04] yaw=-170.1deg
+[05/10 18:30:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:30:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-8.61931662e-01  1.01785357e+00  5.32749062e-04] yaw=-153.6deg
+[05/10 18:30:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:30:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:30:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.9ms, total=171.9ms
+[05/10 18:30:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.633, 0.357, 0.001)
+[05/10 18:30:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 183.6 deg
+[05/10 18:30:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.077m
+[05/10 18:30:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:30:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:30:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:30:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:30:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:30:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 18:30:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
+[05/10 18:30:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:30:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:30:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 18:31:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True
+[05/10 18:31:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.634[m] 85.206[deg]
+[05/10 18:31:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:31:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:31:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:32:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:33:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:34:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:34:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:34:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:34:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:34:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:34:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.92s (batch: 3.66s, save: 9.27s)
+[05/10 18:34:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.51s:
+  episode_total: mean=199.93s, total=199.93s, count=1, min=199925.1ms, max=199925.1ms
+  sensor_polling: mean=511.6ms, total=153.49s, count=300, min=427.8ms, max=1108.8ms
+  save_trajectories: mean=9.27s, total=9.27s, count=1, min=9267.1ms, max=9267.1ms
+  physics_step: mean=25.0ms, total=7.51s, count=300, min=16.4ms, max=94.3ms
+  save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3656.5ms, max=3656.5ms
+  task_sampling: mean=505.0ms, total=505.0ms, count=1, min=505.0ms, max=505.0ms
+  task_specific_sample: mean=500.5ms, total=500.5ms, count=1, min=500.5ms, max=500.5ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=604.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:34:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:34:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:34:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:34:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:34:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:34:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:34:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:34:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:34:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:34:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:34:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
+[05/10 18:34:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:34:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:34:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043458m
+[05/10 18:34:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:34:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:34:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:34:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83839389  0.81468619  0.04345839] yaw=-154.4deg
+[05/10 18:34:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:34:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:34:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:34:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:34:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:34:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6119678   0.3831289   0.04345839] yaw=180.2deg
+[05/10 18:34:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:34:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.11991333  1.20904951  0.04345839] yaw=-136.4deg
+[05/10 18:34:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:34:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:34:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.1ms, total=151.1ms
+[05/10 18:34:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.838, 0.815, 0.043)
+[05/10 18:34:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.4 deg
+[05/10 18:34:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.926m
+[05/10 18:34:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:34:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:34:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:34:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:34:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:34:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 18:34:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.102s
+[05/10 18:34:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:34:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:34:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 18:34:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True
+[05/10 18:34:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.513[m] 96.432[deg]
+[05/10 18:34:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:34:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:34:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:35:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:35:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:35:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:36:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:37:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:37:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:37:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:37:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:37:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:37:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 12.72s (batch: 4.59s, save: 8.13s)
+[05/10 18:37:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.44s:
+  episode_total: mean=182.80s, total=182.80s, count=1, min=182803.3ms, max=182803.3ms
+  sensor_polling: mean=465.5ms, total=139.64s, count=300, min=394.6ms, max=890.3ms
+  save_trajectories: mean=8.13s, total=8.13s, count=1, min=8126.2ms, max=8126.2ms
+  physics_step: mean=21.1ms, total=6.34s, count=300, min=13.5ms, max=35.0ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.3ms, max=4589.3ms
+  task_sampling: mean=443.8ms, total=443.8ms, count=1, min=443.8ms, max=443.8ms
+  task_specific_sample: mean=440.4ms, total=440.4ms, count=1, min=440.4ms, max=440.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=371.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:37:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:37:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:37:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:37:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:37:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:37:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:37:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:37:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:37:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:37:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:37:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 18:37:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:37:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:37:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030480m
+[05/10 18:37:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:37:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:37:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:37:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:37:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9958913   0.82098141  0.03048011] yaw=-156.4deg
+[05/10 18:37:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:37:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:37:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:37:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9057847   0.12020668  0.03048011] yaw=153.7deg
+[05/10 18:37:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:37:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86502394  1.17221916  0.03048011] yaw=-134.6deg
+[05/10 18:37:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:37:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:37:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.8ms
+[05/10 18:37:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.996, 0.821, 0.030)
+[05/10 18:37:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.4 deg
+[05/10 18:37:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.784m
+[05/10 18:37:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:37:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:37:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:37:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:37:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:37:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 18:37:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
+[05/10 18:37:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:37:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:37:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 18:37:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
+[05/10 18:37:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.323[m] 83.166[deg]
+[05/10 18:37:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:37:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:37:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:38:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:38:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:39:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:40:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:40:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 3/4: 1 episodes
+[05/10 18:40:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 286 timesteps
+[05/10 18:40:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:40:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:40:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 10.53s (batch: 3.75s, save: 6.78s)
+[05/10 18:40:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.44s:
+  episode_total: mean=171.88s, total=171.88s, count=1, min=171883.7ms, max=171883.7ms
+  sensor_polling: mean=461.6ms, total=131.57s, count=285, min=386.5ms, max=861.9ms
+  save_trajectories: mean=6.78s, total=6.78s, count=1, min=6779.0ms, max=6779.0ms
+  physics_step: mean=21.6ms, total=6.14s, count=285, min=15.0ms, max=68.3ms
+  save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3750.6ms, max=3750.6ms
+  task_sampling: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms
+  task_specific_sample: mean=436.0ms, total=436.0ms, count=1, min=436.0ms, max=436.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=370.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:40:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
+[05/10 18:40:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
+[05/10 18:40:18 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
+[05/10 18:40:18 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5205.25s
+  House averages:
+  episode_total: mean=157.93s, total=2842.68s, count=18, min=2846.3ms, max=253785.6ms
+  sensor_polling: mean=509.6ms, total=2061.23s, count=4045, min=386.5ms, max=1305.6ms
+  save_trajectories: mean=9.99s, total=119.94s, count=12, min=6779.0ms, max=12617.2ms
+  physics_step: mean=24.8ms, total=100.12s, count=4045, min=13.5ms, max=132.9ms
+  save_batch_prep: mean=4.41s, total=52.96s, count=12, min=3656.5ms, max=5362.1ms
+  task_sampling: mean=673.7ms, total=12.13s, count=18, min=362.2ms, max=3869.8ms
+  task_specific_sample: mean=499.4ms, total=8.99s, count=18, min=359.2ms, max=795.5ms
+  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
+  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
+  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
+  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
+  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
+  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
+  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  mj_forward_sync: mean=472.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 18:40:18 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 18:40:18 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5205.25s
+  Worker averages:
+  episode_total: mean=157.93s, total=2842.68s, count=18, min=2846.3ms, max=253785.6ms
+  sensor_polling: mean=509.6ms, total=2061.23s, count=4045, min=386.5ms, max=1305.6ms
+  save_trajectories: mean=9.99s, total=119.94s, count=12, min=6779.0ms, max=12617.2ms
+  physics_step: mean=24.8ms, total=100.12s, count=4045, min=13.5ms, max=132.9ms
+  save_batch_prep: mean=4.41s, total=52.96s, count=12, min=3656.5ms, max=5362.1ms
+  task_sampling: mean=673.7ms, total=12.13s, count=18, min=362.2ms, max=3869.8ms
+  task_specific_sample: mean=499.4ms, total=8.99s, count=18, min=359.2ms, max=795.5ms
+  scene_load: mean=3.07s, total=3.07s, count=1, min=3070.7ms, max=3070.7ms
+  scene_env_create: mean=1.95s, total=1.95s, count=1, min=1954.5ms, max=1954.5ms
+  scene_compile: mean=922.9ms, total=922.9ms, count=1, min=922.9ms, max=922.9ms
+  compile_mujoco: mean=702.9ms, total=702.9ms, count=1, min=702.9ms, max=702.9ms
+  compile_xml_load: mean=157.8ms, total=157.8ms, count=1, min=157.8ms, max=157.8ms
+  scene_init: mean=129.7ms, total=129.7ms, count=1, min=129.7ms, max=129.7ms
+  scene_asset_install: mean=63.4ms, total=63.4ms, count=1, min=63.4ms, max=63.4ms
+  compile_aux_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  compile_aux_policy_objects: mean=46.3ms, total=46.3ms, count=1, min=46.3ms, max=46.3ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  scene_randomize: mean=2.2ms, total=38.9ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_objects: mean=12.8ms, total=12.8ms, count=1, min=12.8ms, max=12.8ms
+  mj_forward_sync: mean=472.3us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  asset_install_scene: mean=5.2ms, total=5.2ms, count=1, min=5.2ms, max=5.2ms
+  policy_setup: mean=22.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 18:40:21 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 18:40:21 INFO pipeline.py:1491] Success count: 12, Total count: 13
+[05/10 18:40:21 INFO pipeline.py:1492] Success rate: 92.31%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_005
+==========================================
diff --git a/fridge_7/chunk_005/shard_4_of_4.log b/fridge_7/chunk_005/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..e10f353ad38e90d32587a6eb144d60a9c904a139
--- /dev/null
+++ b/fridge_7/chunk_005/shard_4_of_4.log
@@ -0,0 +1,1785 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_005
+  shard=4/4  seed=20504  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:52:25 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 17:52:25 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 17:52:25 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_005'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 17:52:25 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_005'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7b86a78c3d50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20504,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:52:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 17:52:25 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 17:52:25 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 135818265063568 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 135818265063568 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 135818265063568 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 135818265063568 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 135818265770576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135818265770576 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135818265770768 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135818265770768 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135818265770768 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135818265770768 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135818265770576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135818265770576 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135818265093456 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135818265093456 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135818265098576 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135818265098576 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 135818265098576 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135818265098576 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135818265093456 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135818265093456 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 17:52:25 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 64a5145f1c10 at 0x7b86a7e0a790>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 64a5145f3380 at 0x7b86a7e19c90>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 64a5145f3380 at 0x7b86a7da0a90>
+[05/10 17:52:28 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 17:52:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:52:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:52:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 17:52:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:52:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:52:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084719m
+[05/10 17:52:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:52:28 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 17:52:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69757086  0.84132334  0.08471936] yaw=-162.0deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6607921   0.65728391  0.08471936] yaw=-165.8deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:52:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.91750275  0.98954903  0.08471936] yaw=-157.5deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:52:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:52:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=23.7ms, retries=410.9ms, total=434.6ms
+[05/10 17:52:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.841, 0.085)
+[05/10 17:52:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.0 deg
+[05/10 17:52:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:52:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:52:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:52:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 17:53:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 34.820s
+[05/10 17:53:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:53:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:53:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 17:53:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.639s, found feasible grasp: True
+[05/10 17:53:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.659[m] 87.650[deg]
+[05/10 17:53:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:54:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:55:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 17:56:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:56:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 17:56:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 17:56:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 17:56:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 17:56:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.90s (batch: 3.88s, save: 10.02s)
+[05/10 17:56:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.86s:
+  episode_total: mean=247.71s, total=247.71s, count=1, min=247713.5ms, max=247713.5ms
+  sensor_polling: mean=516.1ms, total=154.82s, count=300, min=450.4ms, max=914.6ms
+  save_trajectories: mean=10.02s, total=10.02s, count=1, min=10021.2ms, max=10021.2ms
+  physics_step: mean=24.5ms, total=7.34s, count=300, min=18.8ms, max=49.9ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3880.4ms, max=3880.4ms
+  task_sampling: mean=3.86s, total=3.86s, count=1, min=3860.2ms, max=3860.2ms
+  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
+  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
+  task_specific_sample: mean=728.9ms, total=728.9ms, count=1, min=728.9ms, max=728.9ms
+  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
+  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
+  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
+  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=635.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 17:56:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:56:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:56:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:56:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:56:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:56:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:56:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 17:56:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:56:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:56:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028489m
+[05/10 17:56:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:56:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:56:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:56:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09827936  1.0376499   0.02848927] yaw=-148.2deg
+[05/10 17:56:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:56:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:56:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:56:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.0ms, total=336.1ms
+[05/10 17:56:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.098, 1.038, 0.028)
+[05/10 17:56:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg
+[05/10 17:56:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.821m
+[05/10 17:56:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:56:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:56:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:56:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:56:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:56:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 17:56:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
+[05/10 17:56:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:56:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:56:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 17:56:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.372s, found feasible grasp: True
+[05/10 17:56:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.380[m] 86.607[deg]
+[05/10 17:56:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:56:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:56:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 17:57:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 17:57:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 17:57:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 17:59:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 17:59:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 17:59:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 17:59:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 17:59:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 17:59:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 17:59:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 17:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 17:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 17:59:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 17:59:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:59:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:59:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
+[05/10 17:59:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.720s, found feasible grasp: True
+[05/10 17:59:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.324[deg]
+[05/10 17:59:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 17:59:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 17:59:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 17:59:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 17:59:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:59:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:59:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:59:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:59:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 17:59:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 17:59:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 17:59:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
+[05/10 17:59:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 17:59:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 17:59:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028643m
+[05/10 17:59:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 17:59:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 17:59:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 17:59:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:59:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76701776  0.41372654  0.028643  ] yaw=186.3deg
+[05/10 17:59:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 17:59:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:59:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 102.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:59:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 17:59:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.891129   0.6409341  0.028643 ] yaw=-158.8deg
+[05/10 17:59:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 17:59:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64280559  0.68524938  0.028643  ] yaw=-175.0deg
+[05/10 17:59:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 17:59:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 17:59:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=344.3ms, total=344.4ms
+[05/10 17:59:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.767, 0.414, 0.029)
+[05/10 17:59:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 186.3 deg
+[05/10 17:59:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.938m
+[05/10 17:59:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 17:59:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 17:59:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 17:59:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 17:59:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 17:59:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 17:59:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 17:59:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 17:59:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 17:59:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.110s, found 88 non-colliding grasps
+[05/10 17:59:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.224s, found feasible grasp: True
+[05/10 17:59:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.520[m] 91.468[deg]
+[05/10 17:59:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 17:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 17:59:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:00:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:00:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:00:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:02:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:02:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:02:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:02:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:03:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:03:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:03:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 16.47s (batch: 5.39s, save: 11.09s)
+[05/10 18:03:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=1.29s:
+  episode_total: mean=193.13s, total=386.26s, count=2, min=163469.5ms, max=222792.6ms
+  sensor_polling: mean=522.9ms, total=295.41s, count=565, min=442.0ms, max=874.0ms
+  physics_step: mean=25.0ms, total=14.11s, count=565, min=18.3ms, max=69.0ms
+  save_trajectories: mean=11.09s, total=11.09s, count=1, min=11088.0ms, max=11088.0ms
+  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5385.2ms, max=5385.2ms
+  task_sampling: mean=645.0ms, total=1.29s, count=2, min=620.9ms, max=669.0ms
+  task_specific_sample: mean=639.3ms, total=1.28s, count=2, min=613.8ms, max=664.7ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.8ms, max=2.9ms
+  mj_forward_sync: mean=585.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=22.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:03:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:03:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:03:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:03:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:03:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:03:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:03:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:03:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:03:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:03:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:03:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.057m, effective arm-mount z=0.917m (base_body_z=0.057m, pedestal_h=0.860m)
+[05/10 18:03:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:03:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:03:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057254m
+[05/10 18:03:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:03:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:03:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72877017  0.27050068  0.05725375] yaw=165.4deg
+[05/10 18:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.05283478  1.24566073  0.05725375] yaw=-136.9deg
+[05/10 18:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:03:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74012062  0.08893425  0.05725375] yaw=146.8deg
+[05/10 18:03:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:03:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:03:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=95.4ms, total=95.5ms
+[05/10 18:03:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.271, 0.057)
+[05/10 18:03:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg
+[05/10 18:03:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
+[05/10 18:03:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:03:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:03:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:03:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:03:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:03:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 18:03:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.127s
+[05/10 18:03:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:03:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:03:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
+[05/10 18:03:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.710s, found feasible grasp: True
+[05/10 18:03:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.565[m] 97.098[deg]
+[05/10 18:03:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:03:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:04:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:04:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:05:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:06:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:06:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:06:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:06:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:06:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:06:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 15.51s (batch: 4.45s, save: 11.06s)
+[05/10 18:06:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.44s:
+  episode_total: mean=208.98s, total=208.98s, count=1, min=208979.4ms, max=208979.4ms
+  sensor_polling: mean=516.0ms, total=154.79s, count=300, min=442.4ms, max=1019.5ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11061.9ms, max=11061.9ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=16.4ms, max=64.1ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4452.2ms, max=4452.2ms
+  task_sampling: mean=437.8ms, total=437.8ms, count=1, min=437.8ms, max=437.8ms
+  task_specific_sample: mean=432.9ms, total=432.9ms, count=1, min=432.9ms, max=432.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=693.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=34.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:06:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:06:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:06:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:06:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:06:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:06:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:06:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:06:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:06:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:06:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 18:06:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:06:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:06:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030489m
+[05/10 18:06:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:06:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:06:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:06:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:06:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90575212  0.15871317  0.03048856] yaw=157.2deg
+[05/10 18:06:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:06:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:06:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:06:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.01316688  1.06821953  0.03048856] yaw=-136.7deg
+[05/10 18:06:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:06:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67068777  0.13113667  0.03048856] yaw=171.2deg
+[05/10 18:06:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:06:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:06:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=470.9ms, total=470.9ms
+[05/10 18:06:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.906, 0.159, 0.030)
+[05/10 18:06:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.2 deg
+[05/10 18:06:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.860m
+[05/10 18:06:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:06:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:06:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:06:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:06:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 18:06:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 18:06:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:06:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:06:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 18:06:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.004s, found feasible grasp: True
+[05/10 18:06:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.400[m] 84.405[deg]
+[05/10 18:06:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:06:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:06:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:07:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:07:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:07:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:08:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:08:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:08:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:08:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:08:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:08:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:08:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.096s, found 80 non-colliding grasps
+[05/10 18:08:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.820s, found feasible grasp: True
+[05/10 18:08:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.143[deg]
+[05/10 18:09:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:09:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:09:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:09:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:09:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:09:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:09:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:09:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:09:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:09:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:09:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:09:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 18:09:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:09:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:09:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034666m
+[05/10 18:09:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:09:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:09:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:09:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80761355  0.47246581  0.03466565] yaw=181.6deg
+[05/10 18:09:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:09:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83226153  1.0895517   0.03466565] yaw=-142.9deg
+[05/10 18:09:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:09:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:09:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:09:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:09:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.78994328  0.09712097  0.03466565] yaw=148.5deg
+[05/10 18:09:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:09:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:09:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=277.1ms, total=277.1ms
+[05/10 18:09:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.472, 0.035)
+[05/10 18:09:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 181.6 deg
+[05/10 18:09:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.895m
+[05/10 18:09:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:09:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:09:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:09:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:09:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:09:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 18:09:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.098s
+[05/10 18:09:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:09:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:09:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.207s, found 88 non-colliding grasps
+[05/10 18:09:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.227s, found feasible grasp: True
+[05/10 18:09:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.482[m] 97.544[deg]
+[05/10 18:09:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:09:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:10:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:10:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:11:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:12:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:12:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:12:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:12:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:12:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:12:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.45s (batch: 4.66s, save: 8.80s)
+[05/10 18:12:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.40s:
+  episode_total: mean=179.86s, total=359.71s, count=2, min=143960.8ms, max=215749.7ms
+  sensor_polling: mean=521.7ms, total=270.26s, count=518, min=440.5ms, max=880.3ms
+  physics_step: mean=24.7ms, total=12.80s, count=518, min=15.2ms, max=63.6ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8795.7ms, max=8795.7ms
+  save_batch_prep: mean=4.66s, total=4.66s, count=1, min=4655.7ms, max=4655.7ms
+  task_sampling: mean=697.8ms, total=1.40s, count=2, min=547.2ms, max=848.4ms
+  task_specific_sample: mean=692.7ms, total=1.39s, count=2, min=542.0ms, max=843.5ms
+  scene_randomize: mean=3.1ms, total=6.2ms, count=2, min=2.8ms, max=3.3ms
+  mj_forward_sync: mean=592.0us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=25.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:12:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:12:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:12:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:12:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:12:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:12:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:12:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:12:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:12:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:12:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 18:12:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:12:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:12:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024505m
+[05/10 18:12:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:12:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:12:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:12:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7267935   0.28411293  0.02450487] yaw=179.3deg
+[05/10 18:12:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:12:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:12:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89600936  0.76819328  0.02450487] yaw=-165.2deg
+[05/10 18:12:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:12:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:12:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:12:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87356914  0.74749812  0.02450487] yaw=-154.1deg
+[05/10 18:12:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:12:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:12:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=139.7ms, total=139.8ms
+[05/10 18:12:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.284, 0.025)
+[05/10 18:12:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.3 deg
+[05/10 18:12:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.995m
+[05/10 18:12:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:12:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:12:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:12:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:12:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 18:12:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 18:12:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:12:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:12:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 18:12:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.577s, found feasible grasp: True
+[05/10 18:12:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.571[m] 95.089[deg]
+[05/10 18:12:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:12:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:12:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:13:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:13:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:14:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:15:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:15:56 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:15:56 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:15:56 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:16:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:16:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:16:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.52s (batch: 4.38s, save: 9.13s)
+[05/10 18:16:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.43s:
+  episode_total: mean=211.03s, total=211.03s, count=1, min=211027.8ms, max=211027.8ms
+  sensor_polling: mean=521.6ms, total=156.49s, count=300, min=457.6ms, max=1114.7ms
+  save_trajectories: mean=9.13s, total=9.13s, count=1, min=9133.9ms, max=9133.9ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.7ms, max=134.6ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4382.6ms, max=4382.6ms
+  task_sampling: mean=429.8ms, total=429.8ms, count=1, min=429.8ms, max=429.8ms
+  task_specific_sample: mean=426.3ms, total=426.3ms, count=1, min=426.3ms, max=426.3ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=393.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:16:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:16:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:16:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:16:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:16:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:16:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:16:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:16:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:16:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:16:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:16:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/10 18:16:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:16:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:16:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097343m
+[05/10 18:16:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:16:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:16:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75896834  0.41220909  0.09734325] yaw=174.1deg
+[05/10 18:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10478383  1.21847726  0.09734325] yaw=-129.0deg
+[05/10 18:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 109.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73900635  0.06496733  0.09734325] yaw=159.6deg
+[05/10 18:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:16:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:16:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=423.4ms, total=423.4ms
+[05/10 18:16:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.759, 0.412, 0.097)
+[05/10 18:16:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.1 deg
+[05/10 18:16:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.946m
+[05/10 18:16:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:16:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:16:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:16:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:16:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:16:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 18:16:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.117s
+[05/10 18:16:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:16:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:16:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 18:16:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.564s, found feasible grasp: True
+[05/10 18:16:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.486[m] 87.590[deg]
+[05/10 18:16:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:16:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:16:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:17:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:17:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:18:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:18:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:18:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:18:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:18:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:18:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:19:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:19:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:19:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:19:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:19:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:19:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.086s, found 76 non-colliding grasps
+[05/10 18:19:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.965s, found feasible grasp: True
+[05/10 18:19:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.379[deg]
+[05/10 18:19:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:19:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:19:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:19:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:19:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:19:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:19:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:19:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:19:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.33s (batch: 4.39s, save: 8.94s)
+[05/10 18:20:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.75s:
+  episode_total: mean=227.35s, total=227.35s, count=1, min=227349.5ms, max=227349.5ms
+  sensor_polling: mean=525.2ms, total=157.55s, count=300, min=451.3ms, max=1082.6ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8938.2ms, max=8938.2ms
+  physics_step: mean=24.4ms, total=7.31s, count=300, min=17.6ms, max=76.9ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4388.6ms, max=4388.6ms
+  task_sampling: mean=750.2ms, total=750.2ms, count=1, min=750.2ms, max=750.2ms
+  task_specific_sample: mean=740.0ms, total=740.0ms, count=1, min=740.0ms, max=740.0ms
+  scene_randomize: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=651.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=26.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:20:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:20:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:20:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:20:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:20:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:20:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:20:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:20:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:20:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:20:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:20:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
+[05/10 18:20:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:20:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:20:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051252m
+[05/10 18:20:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:20:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:20:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:20:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73656483  0.07149442  0.05125223] yaw=151.1deg
+[05/10 18:20:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:20:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09707554  1.12186884  0.05125223] yaw=-124.9deg
+[05/10 18:20:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:20:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 122.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:20:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:20:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88308184  0.28698147  0.05125223] yaw=156.2deg
+[05/10 18:20:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:20:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:20:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.3ms, total=113.4ms
+[05/10 18:20:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.071, 0.051)
+[05/10 18:20:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 151.1 deg
+[05/10 18:20:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.049m
+[05/10 18:20:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:20:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:20:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:20:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:20:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:20:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 18:20:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
+[05/10 18:20:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:20:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:20:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 18:20:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.640s, found feasible grasp: True
+[05/10 18:20:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.627[m] 96.400[deg]
+[05/10 18:20:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:21:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:21:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:22:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:22:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:22:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:22:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:22:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:23:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:23:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:23:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:23:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:23:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 80 non-colliding grasps
+[05/10 18:23:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.505s, found feasible grasp: True
+[05/10 18:23:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.311[deg]
+[05/10 18:23:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:23:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:23:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:23:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:23:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:23:35 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:23:35 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:23:35 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:23:48 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:23:48 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:23:48 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.11s (batch: 4.28s, save: 8.83s)
+[05/10 18:23:49 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.44s:
+  episode_total: mean=226.97s, total=226.97s, count=1, min=226966.2ms, max=226966.2ms
+  sensor_polling: mean=527.0ms, total=158.09s, count=300, min=449.0ms, max=1155.7ms
+  save_trajectories: mean=8.83s, total=8.83s, count=1, min=8828.1ms, max=8828.1ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=14.7ms, max=100.5ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.6ms, max=4283.6ms
+  task_sampling: mean=443.4ms, total=443.4ms, count=1, min=443.4ms, max=443.4ms
+  task_specific_sample: mean=438.7ms, total=438.7ms, count=1, min=438.7ms, max=438.7ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=608.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:23:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:23:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:23:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:23:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:23:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:23:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:23:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:23:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:23:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:23:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:23:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
+[05/10 18:23:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:23:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:23:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003716m
+[05/10 18:23:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:23:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:23:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:23:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70310945  0.86830829  0.00371572] yaw=-153.1deg
+[05/10 18:23:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:23:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:23:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:23:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:23:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94609299  0.9226251   0.00371572] yaw=-139.5deg
+[05/10 18:23:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:23:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93739037  1.15726232  0.00371572] yaw=-129.8deg
+[05/10 18:23:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:23:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:23:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=152.6ms, total=152.7ms
+[05/10 18:23:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.703, 0.868, 0.004)
+[05/10 18:23:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.1 deg
+[05/10 18:23:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.071m
+[05/10 18:23:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:23:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:23:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:23:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:23:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:23:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 18:23:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
+[05/10 18:23:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:23:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:23:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 18:23:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.600s, found feasible grasp: True
+[05/10 18:23:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.691[m] 98.743[deg]
+[05/10 18:23:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:25:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:25:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:26:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:27:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:27:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:27:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:27:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:27:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:27:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.51s (batch: 4.07s, save: 9.44s)
+[05/10 18:27:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.45s:
+  episode_total: mean=203.46s, total=203.46s, count=1, min=203464.1ms, max=203464.1ms
+  sensor_polling: mean=516.7ms, total=155.01s, count=300, min=440.4ms, max=823.1ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9442.8ms, max=9442.8ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=16.2ms, max=69.1ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4071.7ms, max=4071.7ms
+  task_sampling: mean=454.4ms, total=454.4ms, count=1, min=454.4ms, max=454.4ms
+  task_specific_sample: mean=450.6ms, total=450.6ms, count=1, min=450.6ms, max=450.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=448.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:27:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:27:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:27:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:27:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:27:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:27:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:27:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:27:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:27:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:27:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:27:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
+[05/10 18:27:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:27:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:27:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088182m
+[05/10 18:27:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:27:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:27:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:27:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79328662  0.31637843  0.08818196] yaw=175.8deg
+[05/10 18:27:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:27:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:27:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87625644  1.01621028  0.08818196] yaw=-137.4deg
+[05/10 18:27:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:27:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98497724  0.96067277  0.08818196] yaw=-135.5deg
+[05/10 18:27:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:27:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:27:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.1ms, total=158.1ms
+[05/10 18:27:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.793, 0.316, 0.088)
+[05/10 18:27:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.8 deg
+[05/10 18:27:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.924m
+[05/10 18:27:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:27:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:27:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:27:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:27:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:27:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 18:27:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 18:27:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:27:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:27:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 18:27:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.865s, found feasible grasp: True
+[05/10 18:27:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.512[m] 92.084[deg]
+[05/10 18:27:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:27:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:27:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:28:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:28:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:29:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:29:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:29:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:29:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:29:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:29:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:29:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:29:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.374s, found feasible grasp: True
+[05/10 18:29:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.636[deg]
+[05/10 18:29:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:29:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:29:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
+[05/10 18:29:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:29:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 18:29:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:29:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:29:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 18:29:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.365s, found feasible grasp: True
+[05/10 18:29:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.614[deg]
+[05/10 18:29:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:30:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:30:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:30:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:30:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:30:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:30:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:30:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:30:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:30:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:30:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:30:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 13.61s (batch: 4.18s, save: 9.43s)
+[05/10 18:30:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.44s:
+  episode_total: mean=219.50s, total=219.50s, count=1, min=219503.2ms, max=219503.2ms
+  sensor_polling: mean=523.6ms, total=157.09s, count=300, min=447.1ms, max=1200.9ms
+  save_trajectories: mean=9.43s, total=9.43s, count=1, min=9431.3ms, max=9431.3ms
+  physics_step: mean=26.2ms, total=7.87s, count=300, min=15.4ms, max=106.4ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.0ms, max=4180.0ms
+  task_sampling: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
+  task_specific_sample: mean=439.1ms, total=439.1ms, count=1, min=439.1ms, max=439.1ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:30:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:30:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:30:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:30:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:30:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:30:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:30:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:30:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:30:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:30:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:30:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
+[05/10 18:30:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:30:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:30:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000017m
+[05/10 18:30:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:30:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:30:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:30:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:30:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:30:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11444047e+00  1.11622486e+00  1.74444103e-05] yaw=-136.3deg
+[05/10 18:30:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:30:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.93833133e-01  1.14634233e+00  1.74444103e-05] yaw=-136.7deg
+[05/10 18:30:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:30:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:30:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-7.88718312e-01  1.01129296e+00  1.74444103e-05] yaw=-160.6deg
+[05/10 18:30:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:30:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:30:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=410.6ms, total=410.6ms
+[05/10 18:30:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.114, 1.116, 0.000)
+[05/10 18:30:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.3 deg
+[05/10 18:30:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
+[05/10 18:30:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:30:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:30:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:30:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:30:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:30:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 18:30:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 18:30:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:30:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:30:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 18:30:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.940s, found feasible grasp: True
+[05/10 18:30:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.476[m] 92.044[deg]
+[05/10 18:30:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:30:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:30:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:31:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:32:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:32:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:33:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:33:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:33:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:33:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:33:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:33:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:33:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:33:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:33:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 18:33:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.489s, found feasible grasp: True
+[05/10 18:33:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.309[deg]
+[05/10 18:33:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:33:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:33:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:33:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:33:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:33:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:33:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:33:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:33:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:33:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:33:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:33:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
+[05/10 18:33:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:33:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:33:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058718m
+[05/10 18:33:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:33:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:33:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:33:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:33:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:33:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:33:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:33:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75316236  0.09261206  0.05871826] yaw=167.0deg
+[05/10 18:33:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:33:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90305874  1.0527639   0.05871826] yaw=-134.5deg
+[05/10 18:33:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:33:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:33:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=170.0ms
+[05/10 18:33:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.753, 0.093, 0.059)
+[05/10 18:33:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.0 deg
+[05/10 18:33:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.026m
+[05/10 18:33:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:33:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:33:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:33:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:33:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:33:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 18:33:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
+[05/10 18:33:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:33:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:33:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:33:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.457s, found feasible grasp: True
+[05/10 18:33:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.539[m] 81.544[deg]
+[05/10 18:33:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:34:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:34:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:34:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:36:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:36:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:36:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:36:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:36:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:36:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:36:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:36:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.74s (batch: 4.06s, save: 7.68s)
+[05/10 18:36:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=1.16s:
+  episode_total: mean=174.17s, total=348.34s, count=2, min=158065.1ms, max=190276.0ms
+  sensor_polling: mean=495.2ms, total=275.84s, count=557, min=381.1ms, max=852.9ms
+  physics_step: mean=24.7ms, total=13.74s, count=557, min=14.7ms, max=87.5ms
+  save_trajectories: mean=7.68s, total=7.68s, count=1, min=7683.2ms, max=7683.2ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4058.8ms, max=4058.8ms
+  task_sampling: mean=577.5ms, total=1.16s, count=2, min=423.3ms, max=731.7ms
+  task_specific_sample: mean=571.5ms, total=1.14s, count=2, min=419.7ms, max=723.3ms
+  scene_randomize: mean=4.4ms, total=8.8ms, count=2, min=1.7ms, max=7.1ms
+  mj_forward_sync: mean=450.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:36:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:36:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:36:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:36:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:36:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:36:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:36:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:36:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:36:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:36:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:36:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 18:36:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:36:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:36:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027816m
+[05/10 18:36:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:36:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:36:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:36:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:36:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07729987  1.19750495  0.0278163 ] yaw=-131.6deg
+[05/10 18:36:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:36:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74722422  0.49670619  0.0278163 ] yaw=-188.2deg
+[05/10 18:36:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:36:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89779721  0.25119061  0.0278163 ] yaw=161.3deg
+[05/10 18:36:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:36:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:36:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=137.7ms, total=137.8ms
+[05/10 18:36:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.077, 1.198, 0.028)
+[05/10 18:36:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.6 deg
+[05/10 18:36:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.950m
+[05/10 18:36:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:36:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:36:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:36:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:36:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:36:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 18:36:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 18:36:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:36:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:36:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
+[05/10 18:36:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.573s, found feasible grasp: True
+[05/10 18:36:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.514[m] 83.156[deg]
+[05/10 18:36:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:36:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:36:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:36:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:36:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:36:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:36:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:36:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:36:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:36:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:36:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:36:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
+[05/10 18:36:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:36:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:36:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072373m
+[05/10 18:36:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:36:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:36:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:36:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:36:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:36:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05310339  1.21680149  0.07237347] yaw=-141.5deg
+[05/10 18:36:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:36:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92834387  0.46160435  0.07237347] yaw=176.4deg
+[05/10 18:36:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:36:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 157.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:36:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.07103646  0.90667419  0.07237347] yaw=-139.9deg
+[05/10 18:36:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:36:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:36:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.5ms, total=104.5ms
+[05/10 18:36:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.053, 1.217, 0.072)
+[05/10 18:36:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg
+[05/10 18:36:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.981m
+[05/10 18:36:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:36:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:36:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:36:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:36:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:36:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 18:36:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.046s
+[05/10 18:36:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:36:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:36:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 18:36:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.053s, found feasible grasp: True
+[05/10 18:36:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.617[m] 89.989[deg]
+[05/10 18:36:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:36:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:36:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:36:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:36:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:36:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:36:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:36:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:36:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:36:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:36:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:36:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 18:36:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:36:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:36:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085483m
+[05/10 18:36:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:36:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:36:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:36:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:36:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:36:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78438683  0.22645539  0.08548272] yaw=154.6deg
+[05/10 18:36:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:36:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:36:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:36:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72388311  0.72469983  0.08548272] yaw=-163.2deg
+[05/10 18:36:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:36:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:36:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.2ms, total=179.2ms
+[05/10 18:36:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.784, 0.226, 0.085)
+[05/10 18:36:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.6 deg
+[05/10 18:36:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.953m
+[05/10 18:36:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:36:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:36:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:36:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:36:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:36:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 18:36:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 18:36:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:36:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:36:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 18:37:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.575s, found feasible grasp: True
+[05/10 18:37:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.545[m] 97.955[deg]
+[05/10 18:37:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:37:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:37:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:37:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:38:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:38:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:39:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:39:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:39:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:39:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:39:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:39:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:39:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:39:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:39:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
+[05/10 18:39:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.323s, found feasible grasp: True
+[05/10 18:39:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.574[deg]
+[05/10 18:39:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:39:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:39:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:39:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:40:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:40:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:40:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:40:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:40:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:40:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.42s (batch: 3.91s, save: 7.51s)
+[05/10 18:40:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.29s:
+  episode_total: mean=69.83s, total=209.50s, count=3, min=3453.7ms, max=202195.3ms
+  sensor_polling: mean=462.2ms, total=138.67s, count=300, min=396.4ms, max=882.2ms
+  save_trajectories: mean=7.51s, total=7.51s, count=1, min=7511.5ms, max=7511.5ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=13.4ms, max=59.6ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3906.2ms, max=3906.2ms
+  task_sampling: mean=429.9ms, total=1.29s, count=3, min=322.2ms, max=545.0ms
+  task_specific_sample: mean=426.6ms, total=1.28s, count=3, min=319.6ms, max=539.8ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.1ms, max=3.4ms
+  mj_forward_sync: mean=469.9us, total=1.4ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 18:40:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:40:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:40:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:40:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:40:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:40:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:40:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:40:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:40:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:40:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:40:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 18:40:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:40:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:40:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035219m
+[05/10 18:40:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:40:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:40:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:40:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88441163  1.0147874   0.03521872] yaw=-146.1deg
+[05/10 18:40:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:40:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:40:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:40:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.11070662  1.1058788   0.03521872] yaw=-142.9deg
+[05/10 18:40:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:40:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:40:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81109134  0.30615233  0.03521872] yaw=165.1deg
+[05/10 18:40:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:40:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:40:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.9ms
+[05/10 18:40:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.884, 1.015, 0.035)
+[05/10 18:40:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg
+[05/10 18:40:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
+[05/10 18:40:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:40:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:40:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:40:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:40:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:40:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 18:40:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
+[05/10 18:40:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:40:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:40:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 18:40:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.837s, found feasible grasp: True
+[05/10 18:40:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.523[m] 78.992[deg]
+[05/10 18:40:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:40:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:40:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:41:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:42:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:43:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:43:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_005 batch 4/4: 1 episodes
+[05/10 18:43:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:43:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:43:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_005
+[05/10 18:43:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_005 in 11.82s (batch: 3.94s, save: 7.88s)
+[05/10 18:43:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.51s:
+  episode_total: mean=171.53s, total=171.53s, count=1, min=171531.2ms, max=171531.2ms
+  sensor_polling: mean=420.2ms, total=126.05s, count=300, min=366.2ms, max=759.4ms
+  save_trajectories: mean=7.88s, total=7.88s, count=1, min=7884.9ms, max=7884.9ms
+  physics_step: mean=20.8ms, total=6.23s, count=300, min=13.5ms, max=68.6ms
+  save_batch_prep: mean=3.94s, total=3.94s, count=1, min=3936.8ms, max=3936.8ms
+  task_sampling: mean=513.8ms, total=513.8ms, count=1, min=513.8ms, max=513.8ms
+  task_specific_sample: mean=510.4ms, total=510.4ms, count=1, min=510.4ms, max=510.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=367.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:43:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:43:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:43:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:43:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:43:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:43:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:43:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:43:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:43:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:43:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:43:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
+[05/10 18:43:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:43:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:43:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092368m
+[05/10 18:43:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:43:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:43:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:43:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16724396  1.00984182  0.09236771] yaw=-133.1deg
+[05/10 18:43:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:43:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9910261   0.84610897  0.09236771] yaw=-162.7deg
+[05/10 18:43:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:43:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:43:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:43:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.9549785   1.10251601  0.09236771] yaw=-138.3deg
+[05/10 18:43:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:43:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:43:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.3ms, total=98.3ms
+[05/10 18:43:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.167, 1.010, 0.092)
+[05/10 18:43:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg
+[05/10 18:43:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.752m
+[05/10 18:43:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:43:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:43:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:43:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:43:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:43:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 18:43:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 18:43:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:43:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:43:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 18:43:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
+[05/10 18:43:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.305[m] 88.902[deg]
+[05/10 18:43:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:43:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:43:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:45:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:45:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:45:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:45:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:45:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:45:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:45:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:45:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:45:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 76 non-colliding grasps
+[05/10 18:45:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.329s, found feasible grasp: True
+[05/10 18:45:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.360[deg]
+[05/10 18:45:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:45:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
+[05/10 18:45:32 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_005
+[05/10 18:45:32 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes
+[05/10 18:45:32 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5770.94s
+  House averages:
+  episode_total: mean=175.27s, total=3154.89s, count=18, min=3453.7ms, max=247713.5ms
+  sensor_polling: mean=502.4ms, total=2312.47s, count=4603, min=366.2ms, max=1200.9ms
+  physics_step: mean=24.4ms, total=112.47s, count=4603, min=13.4ms, max=134.6ms
+  save_trajectories: mean=9.15s, total=109.82s, count=12, min=7511.5ms, max=11088.0ms
+  save_batch_prep: mean=4.30s, total=51.58s, count=12, min=3880.4ms, max=5385.2ms
+  task_sampling: mean=712.0ms, total=12.82s, count=18, min=322.2ms, max=3860.2ms
+  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=319.6ms, max=843.5ms
+  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
+  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
+  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
+  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
+  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
+  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
+  scene_randomize: mean=3.0ms, total=54.3ms, count=18, min=1.1ms, max=8.7ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
+  mj_forward_sync: mean=516.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 18:45:32 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 18:45:32 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5770.94s
+  Worker averages:
+  episode_total: mean=175.27s, total=3154.89s, count=18, min=3453.7ms, max=247713.5ms
+  sensor_polling: mean=502.4ms, total=2312.47s, count=4603, min=366.2ms, max=1200.9ms
+  physics_step: mean=24.4ms, total=112.47s, count=4603, min=13.4ms, max=134.6ms
+  save_trajectories: mean=9.15s, total=109.82s, count=12, min=7511.5ms, max=11088.0ms
+  save_batch_prep: mean=4.30s, total=51.58s, count=12, min=3880.4ms, max=5385.2ms
+  task_sampling: mean=712.0ms, total=12.82s, count=18, min=322.2ms, max=3860.2ms
+  task_specific_sample: mean=533.5ms, total=9.60s, count=18, min=319.6ms, max=843.5ms
+  scene_load: mean=3.13s, total=3.13s, count=1, min=3127.4ms, max=3127.4ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1917.6ms, max=1917.6ms
+  scene_compile: mean=840.5ms, total=840.5ms, count=1, min=840.5ms, max=840.5ms
+  compile_mujoco: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
+  scene_init: mean=280.8ms, total=280.8ms, count=1, min=280.8ms, max=280.8ms
+  compile_xml_load: mean=159.5ms, total=159.5ms, count=1, min=159.5ms, max=159.5ms
+  scene_asset_install: mean=88.3ms, total=88.3ms, count=1, min=88.3ms, max=88.3ms
+  scene_randomize: mean=3.0ms, total=54.3ms, count=18, min=1.1ms, max=8.7ms
+  compile_aux_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_aux_policy_objects: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  asset_install_grasps: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  asset_install_objects: mean=31.1ms, total=31.1ms, count=1, min=31.1ms, max=31.1ms
+  asset_install_scene: mean=12.1ms, total=12.1ms, count=1, min=12.1ms, max=12.1ms
+  mj_forward_sync: mean=516.0us, total=9.3ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=8.2ms, total=8.2ms, count=1, min=8.2ms, max=8.2ms
+  policy_setup: mean=21.1us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 18:45:34 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 18:45:34 INFO pipeline.py:1491] Success count: 12, Total count: 12
+[05/10 18:45:34 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_005
+==========================================
diff --git a/fridge_7/chunk_006/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/fridge_7/chunk_006/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d104982ae49f10f59cf0c8310e33504568a7fc6
--- /dev/null
+++ b/fridge_7/chunk_006/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+05/10 18:51:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 18:51:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 18:51:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 18:51:58 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
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+                                'fov_noise_degrees': None,
+                                'is_warped': False,
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+                                                  0.41898548410680353,
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+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x763699c276d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20604,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 18:51:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 18:51:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 18:51:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 18:51:58 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 18:51:58 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 18:51:58 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 18:51:58 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 18:51:58 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7540bf3a7f10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20603,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 18:51:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 18:51:58 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 18:51:58 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 18:51:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 18:51:59 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 18:51:59 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 18:51:59 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 18:51:59 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73b67c57e110>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20602,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 18:51:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 18:51:59 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 18:51:59 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 18:51:59 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 18:52:00 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 18:52:00 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 18:52:00 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 18:52:00 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d9b54385b50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20601,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 18:52:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 18:52:00 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 18:52:00 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 18:52:00 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 18:52:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 18:52:01 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 18:52:01 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 18:52:01 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 18:52:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 18:52:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 18:52:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081495m	[env.py: 870]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:52:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:52:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 18:52:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 18:52:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006825m	[env.py: 870]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:52:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83469819  0.11393273  0.08149534] yaw=160.0deg	[env.py: 1019]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71563594  0.91335377  0.08149534] yaw=-145.2deg	[env.py: 1019]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83702882  0.90066737  0.08149534] yaw=-151.6deg	[env.py: 1019]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:52:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=11.7ms, retries=147.1ms, total=158.8ms	[env.py: 1075]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.114, 0.081)	[env.py: 1079]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.0 deg	[env.py: 1082]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81244264  0.10970495  0.0068253 ] yaw=162.3deg	[env.py: 1019]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96084579  0.68996448  0.0068253 ] yaw=-161.2deg	[env.py: 1019]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86396972  0.6822877   0.0068253 ] yaw=-168.1deg	[env.py: 1019]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:52:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=32.4ms, retries=281.0ms, total=313.4ms	[env.py: 1075]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.110, 0.007)	[env.py: 1079]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.3 deg	[env.py: 1082]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:52:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:52:02 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:52:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:52:02 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:52:02 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 18:52:02 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 18:52:02 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 18:52:02 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 18:52:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:52:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:52:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055615m	[env.py: 870]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:52:02 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94246878  0.089583    0.05561463] yaw=159.6deg	[env.py: 1019]
+05/10 18:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92372828  0.43183592  0.05561463] yaw=183.2deg	[env.py: 1019]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9105508   0.05673009  0.05561463] yaw=157.6deg	[env.py: 1019]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=23.1ms, retries=195.6ms, total=218.7ms	[env.py: 1075]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.090, 0.056)	[env.py: 1079]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg	[env.py: 1082]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:52:03 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 18:52:03 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 18:52:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:52:03 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:52:03 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 18:52:03 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 18:52:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:52:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:52:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:52:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:52:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:52:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025898m	[env.py: 870]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:52:03 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87032311  0.34133851  0.02589845] yaw=172.0deg	[env.py: 1019]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95517067  1.05601714  0.02589845] yaw=-153.9deg	[env.py: 1019]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89936375  0.70824251  0.02589845] yaw=-161.8deg	[env.py: 1019]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.6ms, retries=102.1ms, total=114.7ms	[env.py: 1075]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.341, 0.026)	[env.py: 1079]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg	[env.py: 1082]
+05/10 18:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:52:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:52:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:52:03 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 24.580s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 23.957s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:52:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:52:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 94.564[deg]	[grasp_sample.py: 539]
+05/10 18:52:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 25.331s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:52:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:52:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:52:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 85.760[deg]	[grasp_sample.py: 539]
+05/10 18:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:52:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:52:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:52:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:52:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.455[m] 79.031[deg]	[grasp_sample.py: 539]
+05/10 18:52:28 INFO: [Worker 0] Warmed up parallel IK solver in 25.111s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:52:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:52:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:52:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:52:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:52:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:52:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:52:29 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.392[m] 77.575[deg]	[grasp_sample.py: 539]
+05/10 18:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:52:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:52:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:52:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:52:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:53:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:53:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:53:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:53:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:53:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:53:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:53:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:53:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:53:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:53:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:53:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:53:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:54:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:54:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:54:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:54:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:54:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:31 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.269s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:54:31 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.025[m] 2.888[deg]	[grasp_sample.py: 539]
+05/10 18:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:54:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:54:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:54:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:54:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:54:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.329s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:54:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.632[deg]	[grasp_sample.py: 539]
+05/10 18:54:31 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:54:32 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:54:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:54:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:54:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:54:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021496m	[env.py: 870]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80235789  0.17323678  0.02149578] yaw=150.5deg	[env.py: 1019]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91774722  1.11084884  0.02149578] yaw=-141.9deg	[env.py: 1019]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86021383  0.19889075  0.02149578] yaw=159.6deg	[env.py: 1019]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:54:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms	[env.py: 1075]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.173, 0.021)	[env.py: 1079]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg	[env.py: 1082]
+05/10 18:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:54:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:54:33 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:54:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:54:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:54:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:54:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:54:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:54:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.512[m] 92.331[deg]	[grasp_sample.py: 539]
+05/10 18:54:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:54:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:54:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:54:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:54:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:54:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:54:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:54:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088962m	[env.py: 870]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:54:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07447279  0.96848679  0.08896172] yaw=-141.1deg	[env.py: 1019]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04027818  1.12042477  0.08896172] yaw=-128.1deg	[env.py: 1019]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73082784  0.32557111  0.08896172] yaw=173.8deg	[env.py: 1019]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:54:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms	[env.py: 1075]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.968, 0.089)	[env.py: 1079]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg	[env.py: 1082]
+05/10 18:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
+05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:54:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:54:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:54:34 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:54:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:54:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:54:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:54:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:54:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:54:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:54:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:54:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.348[m] 90.791[deg]	[grasp_sample.py: 539]
+05/10 18:54:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:54:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:54:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:54:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:47 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:54:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:54:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:54:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:54:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:54:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:54:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:54:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:54:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.482[deg]	[grasp_sample.py: 539]
+05/10 18:54:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:54:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:54:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:54:57 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:55:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:55:06 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 18:55:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:55:06 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/10 18:55:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:55:16 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 18:55:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:55:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:55:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:55:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:55:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 18:55:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.98s (batch: 3.92s, save: 8.06s)	[pipeline.py: 300]
+05/10 18:55:19 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.51s:
+  episode_total: mean=198.71s, total=198.71s, count=1, min=198713.7ms, max=198713.7ms
+  sensor_polling: mean=434.3ms, total=128.98s, count=297, min=403.6ms, max=586.0ms
+  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.3ms, max=8055.3ms
+  physics_step: mean=20.9ms, total=6.19s, count=297, min=16.6ms, max=32.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3923.9ms, max=3923.9ms
+  task_sampling: mean=3.51s, total=3.51s, count=1, min=3508.0ms, max=3508.0ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
+  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
+  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
+  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
+  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
+  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=399.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=37.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:55:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:55:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:55:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:55:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:55:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:55:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:55:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:55:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084325m	[env.py: 870]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:55:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8354344   1.01921969  0.08432512] yaw=-152.4deg	[env.py: 1019]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84080846  0.32126557  0.08432512] yaw=160.6deg	[env.py: 1019]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11908877  1.14225974  0.08432512] yaw=-125.1deg	[env.py: 1019]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:55:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.0ms, total=64.0ms	[env.py: 1075]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.835, 1.019, 0.084)	[env.py: 1079]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg	[env.py: 1082]
+05/10 18:55:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:55:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:55:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:55:20 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:55:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:55:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:55:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:55:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:55:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:55:22 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.598[m] 90.653[deg]	[grasp_sample.py: 539]
+05/10 18:55:23 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 18:55:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:55:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:55:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:55:25 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:55:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:55:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:55:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079471m	[env.py: 870]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:55:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8747267   0.55102781  0.07947141] yaw=-185.2deg	[env.py: 1019]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.18252479  1.05443306  0.07947141] yaw=-122.7deg	[env.py: 1019]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:55:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.5ms, total=271.6ms	[env.py: 1075]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.551, 0.079)	[env.py: 1079]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.2 deg	[env.py: 1082]
+05/10 18:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:55:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:55:25 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:55:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:55:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:55:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:55:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:55:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.388s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:55:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 93.941[deg]	[grasp_sample.py: 539]
+05/10 18:55:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:55:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:55:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:55:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:55:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:55:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 18:55:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.36s (batch: 4.18s, save: 8.17s)	[pipeline.py: 300]
+05/10 18:55:29 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.17s:
+  episode_total: mean=211.14s, total=211.14s, count=1, min=211143.9ms, max=211143.9ms
+  sensor_polling: mean=431.5ms, total=129.46s, count=300, min=400.8ms, max=578.2ms
+  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8172.5ms, max=8172.5ms
+  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.9ms, max=28.2ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.6ms, max=4182.6ms
+  task_sampling: mean=4.17s, total=4.17s, count=1, min=4170.1ms, max=4170.1ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
+  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
+  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
+  task_specific_sample: mean=568.4ms, total=568.4ms, count=1, min=568.4ms, max=568.4ms
+  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
+  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
+  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=567.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:55:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:55:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:55:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:55:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:55:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:55:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:55:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009717m	[env.py: 870]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:55:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77643334  0.5874257   0.0097166 ] yaw=-172.0deg	[env.py: 1019]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02552139  0.80729708  0.0097166 ] yaw=-157.5deg	[env.py: 1019]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:55:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms	[env.py: 1075]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.587, 0.010)	[env.py: 1079]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg	[env.py: 1082]
+05/10 18:55:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:55:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:55:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:55:31 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:55:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:55:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:55:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:55:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:55:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:55:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.485[m] 88.142[deg]	[grasp_sample.py: 539]
+05/10 18:55:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:55:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:55:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:55:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:56:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:56:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:56:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:56:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:56:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:56:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:52 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:56:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:56:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:56:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:56:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:56:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:56:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.396s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:56:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.896[deg]	[grasp_sample.py: 539]
+05/10 18:56:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:56:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:56:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:57:00 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:57:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 18:57:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 18:57:11 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 18:57:20 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 18:57:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 18:57:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:57:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:57:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 18:57:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.25s (batch: 3.64s, save: 7.61s)	[pipeline.py: 300]
+05/10 18:57:23 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.01s:
+  episode_total: mean=161.34s, total=322.68s, count=2, min=153925.5ms, max=168751.2ms
+  sensor_polling: mean=427.5ms, total=231.27s, count=541, min=390.8ms, max=670.2ms
+  physics_step: mean=19.4ms, total=10.48s, count=541, min=14.2ms, max=29.0ms
+  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7611.1ms, max=7611.1ms
+  task_sampling: mean=2.00s, total=4.01s, count=2, min=331.1ms, max=3676.5ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3635.4ms, max=3635.4ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
+  task_specific_sample: mean=470.6ms, total=941.1ms, count=2, min=328.8ms, max=612.4ms
+  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
+  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
+  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
+  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
+  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
+  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=373.9us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:57:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:57:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:57:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:57:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:57:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:57:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:57:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029144m	[env.py: 870]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:57:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0575382   1.04569979  0.02914364] yaw=-146.1deg	[env.py: 1019]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87992433  0.88248525  0.02914364] yaw=-162.0deg	[env.py: 1019]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9149309   1.21049527  0.02914364] yaw=-128.6deg	[env.py: 1019]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:57:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.9ms, total=65.9ms	[env.py: 1075]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.058, 1.046, 0.029)	[env.py: 1079]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg	[env.py: 1082]
+05/10 18:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:57:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:57:25 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:57:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:57:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:57:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:57:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:57:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:57:25 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.448[m] 88.955[deg]	[grasp_sample.py: 539]
+05/10 18:57:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:57:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:57:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:57:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:57:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 18:57:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.98s (batch: 4.18s, save: 7.79s)	[pipeline.py: 300]
+05/10 18:57:32 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.05s:
+  episode_total: mean=165.75s, total=331.50s, count=2, min=152229.5ms, max=179268.1ms
+  sensor_polling: mean=434.9ms, total=227.90s, count=524, min=393.8ms, max=706.1ms
+  physics_step: mean=19.9ms, total=10.42s, count=524, min=13.2ms, max=29.4ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7793.9ms, max=7793.9ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4181.7ms, max=4181.7ms
+  task_sampling: mean=2.02s, total=4.05s, count=2, min=302.8ms, max=3742.5ms
+  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
+  task_specific_sample: mean=440.6ms, total=881.1ms, count=2, min=300.4ms, max=580.8ms
+  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
+  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
+  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
+  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
+  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  scene_randomize: mean=1.5ms, total=2.9ms, count=2, min=1.3ms, max=1.6ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=542.9us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:57:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:57:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:57:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:57:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:57:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:57:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:57:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008568m	[env.py: 870]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:57:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91943258  0.48870449  0.00856844] yaw=-179.2deg	[env.py: 1019]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85290186  1.0952648   0.00856844] yaw=-155.5deg	[env.py: 1019]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93435986  0.48934392  0.00856844] yaw=-176.1deg	[env.py: 1019]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:57:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.3ms	[env.py: 1075]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.489, 0.009)	[env.py: 1079]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg	[env.py: 1082]
+05/10 18:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.783m	[env.py: 1086]
+05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:57:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:57:34 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:57:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:57:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:57:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:57:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:57:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:57:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 94.072[deg]	[grasp_sample.py: 539]
+05/10 18:57:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:57:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:57:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:57:45 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:57:50 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 18:58:05 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 18:58:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 18:58:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:58:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:58:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:58:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 18:58:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 18:58:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 18:58:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:58:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:58:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:58:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 18:58:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.36s (batch: 4.27s, save: 8.09s)	[pipeline.py: 300]
+05/10 18:58:18 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.82s:
+  episode_total: mean=88.03s, total=176.05s, count=2, min=2874.6ms, max=173177.4ms
+  sensor_polling: mean=435.5ms, total=130.66s, count=300, min=393.7ms, max=554.7ms
+  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8089.7ms, max=8089.7ms
+  physics_step: mean=19.4ms, total=5.83s, count=300, min=14.6ms, max=30.2ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.1ms, max=4272.1ms
+  task_sampling: mean=408.1ms, total=816.1ms, count=2, min=294.5ms, max=521.6ms
+  task_specific_sample: mean=405.2ms, total=810.4ms, count=2, min=291.4ms, max=519.0ms
+  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=369.0us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:58:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:58:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:58:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:58:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:58:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:58:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:58:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:58:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013426m	[env.py: 870]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:58:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80040013  0.27768055  0.01342609] yaw=171.6deg	[env.py: 1019]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85404637  0.96154702  0.01342609] yaw=-148.7deg	[env.py: 1019]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:58:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms	[env.py: 1075]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.278, 0.013)	[env.py: 1079]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg	[env.py: 1082]
+05/10 18:58:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:58:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:58:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:58:20 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:58:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:58:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:58:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:58:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:58:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:58:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.464[m] 86.651[deg]	[grasp_sample.py: 539]
+05/10 18:58:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:58:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 18:58:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 18:58:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.82s (batch: 3.62s, save: 8.19s)	[pipeline.py: 300]
+05/10 18:58:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:58:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:58:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:58:21 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.53s:
+  episode_total: mean=170.51s, total=170.51s, count=1, min=170511.8ms, max=170511.8ms
+  sensor_polling: mean=433.1ms, total=129.93s, count=300, min=394.0ms, max=632.8ms
+  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8192.4ms, max=8192.4ms
+  physics_step: mean=19.2ms, total=5.76s, count=300, min=14.5ms, max=27.8ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.6ms, max=3624.6ms
+  task_sampling: mean=528.0ms, total=528.0ms, count=1, min=528.0ms, max=528.0ms
+  task_specific_sample: mean=524.4ms, total=524.4ms, count=1, min=524.4ms, max=524.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=398.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 18:58:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 18:58:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 18:58:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:58:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 18:58:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 18:58:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 18:58:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026796m	[env.py: 870]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 18:58:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71578058  0.34498013  0.02679642] yaw=175.7deg	[env.py: 1019]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90716321  0.6962257   0.02679642] yaw=-155.8deg	[env.py: 1019]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08060607  1.13413775  0.02679642] yaw=-143.9deg	[env.py: 1019]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 18:58:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms	[env.py: 1075]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.716, 0.345, 0.027)	[env.py: 1079]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg	[env.py: 1082]
+05/10 18:58:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 18:58:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 18:58:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 18:58:23 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 18:58:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 18:58:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:58:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:58:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:58:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:58:24 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.534[m] 90.711[deg]	[grasp_sample.py: 539]
+05/10 18:58:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 18:58:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 18:58:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:59:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:59:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:59:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:59:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:59:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 18:59:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 18:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 18:59:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 18:59:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 18:59:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 18:59:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 18:59:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 18:59:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.605s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 18:59:55 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.293[deg]	[grasp_sample.py: 539]
+05/10 18:59:58 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:00:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:00:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:00:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:00:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:00:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:00:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:00:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070481m	[env.py: 870]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:00:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6925216   0.5061356   0.07048102] yaw=-188.1deg	[env.py: 1019]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90353355  0.67384229  0.07048102] yaw=-173.7deg	[env.py: 1019]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:00:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.1ms, total=269.1ms	[env.py: 1075]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.506, 0.070)	[env.py: 1079]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.1 deg	[env.py: 1082]
+05/10 19:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:00:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:00:01 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:00:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:00:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:00:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:00:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:00:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.048s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:00:02 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.563[m] 90.669[deg]	[grasp_sample.py: 539]
+05/10 19:00:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:00:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:00:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:00:06 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:00:25 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:00:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:00:25 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/10 19:00:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:00:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:00:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.07s (batch: 4.02s, save: 12.06s)	[pipeline.py: 300]
+05/10 19:00:41 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s:
+  episode_total: mean=187.37s, total=187.37s, count=1, min=187372.2ms, max=187372.2ms
+  sensor_polling: mean=475.2ms, total=139.25s, count=293, min=400.7ms, max=902.2ms
+  save_trajectories: mean=12.06s, total=12.06s, count=1, min=12055.5ms, max=12055.5ms
+  physics_step: mean=22.1ms, total=6.47s, count=293, min=14.5ms, max=64.1ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.2ms, max=4017.2ms
+  task_sampling: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms
+  task_specific_sample: mean=403.5ms, total=403.5ms, count=1, min=403.5ms, max=403.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=391.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:00:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:00:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:00:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:00:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:00:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:00:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:00:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027710m	[env.py: 870]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:00:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65948798  0.2565467   0.02770975] yaw=170.3deg	[env.py: 1019]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92026484  0.62559611  0.02770975] yaw=-170.2deg	[env.py: 1019]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72016453  0.44481558  0.02770975] yaw=174.3deg	[env.py: 1019]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:00:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.2ms, total=77.2ms	[env.py: 1075]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.257, 0.028)	[env.py: 1079]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg	[env.py: 1082]
+05/10 19:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:00:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:00:43 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:00:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:00:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:00:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:00:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:00:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:00:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.651[m] 95.882[deg]	[grasp_sample.py: 539]
+05/10 19:00:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:00:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:00:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:00:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:00:58 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:00:59 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:01:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:01:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:01:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:01:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:01:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:01:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:01:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:01:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:01:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:01:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:01:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.99s (batch: 4.08s, save: 7.91s)	[pipeline.py: 300]
+05/10 19:01:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:01:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:01:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.84s (batch: 4.00s, save: 7.84s)	[pipeline.py: 300]
+05/10 19:01:33 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s:
+  episode_total: mean=193.44s, total=193.44s, count=1, min=193437.6ms, max=193437.6ms
+  sensor_polling: mean=474.9ms, total=142.48s, count=300, min=410.8ms, max=899.4ms
+  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.7ms, max=7906.7ms
+  physics_step: mean=23.5ms, total=7.05s, count=300, min=14.1ms, max=74.6ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4083.4ms, max=4083.4ms
+  task_sampling: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
+  task_specific_sample: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:01:33 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.40s:
+  episode_total: mean=190.23s, total=190.23s, count=1, min=190230.4ms, max=190230.4ms
+  sensor_polling: mean=481.2ms, total=144.35s, count=300, min=402.3ms, max=879.2ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7841.8ms, max=7841.8ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=14.0ms, max=93.4ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.3ms, max=3997.3ms
+  task_sampling: mean=403.4ms, total=403.4ms, count=1, min=403.4ms, max=403.4ms
+  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=408.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:01:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:01:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:01:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:01:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094251m	[env.py: 870]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95863266  0.32408908  0.09425061] yaw=159.1deg	[env.py: 1019]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82158255  0.95899551  0.09425061] yaw=-162.2deg	[env.py: 1019]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95740194  1.07220344  0.09425061] yaw=-136.1deg	[env.py: 1019]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.8ms, total=121.9ms	[env.py: 1075]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.324, 0.094)	[env.py: 1079]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg	[env.py: 1082]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.760m	[env.py: 1086]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:01:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:01:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:01:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:01:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035270m	[env.py: 870]
+05/10 19:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75010562 -0.00885265  0.03527008] yaw=161.4deg	[env.py: 1019]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78484861  0.59316214  0.03527008] yaw=-163.1deg	[env.py: 1019]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:01:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:01:35 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96125174  0.30942488  0.03527008] yaw=165.6deg	[env.py: 1019]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:01:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.4ms	[env.py: 1075]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, -0.009, 0.035)	[env.py: 1079]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg	[env.py: 1082]
+05/10 19:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/10 19:01:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:01:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:01:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:01:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:01:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:01:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:01:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:01:35 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:01:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:01:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:01:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:01:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:01:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:01:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.329[m] 88.826[deg]	[grasp_sample.py: 539]
+05/10 19:01:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:01:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:01:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:01:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:01:37 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.632[m] 90.095[deg]	[grasp_sample.py: 539]
+05/10 19:01:38 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:01:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:01:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:01:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:01:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:01:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:01:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:01:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055125m	[env.py: 870]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:01:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78243411  0.87676521  0.05512521] yaw=-164.5deg	[env.py: 1019]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93940621  0.88491134  0.05512521] yaw=-150.9deg	[env.py: 1019]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:01:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.5ms, total=180.6ms	[env.py: 1075]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.877, 0.055)	[env.py: 1079]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg	[env.py: 1082]
+05/10 19:01:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:01:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:01:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:01:40 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:01:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:01:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:01:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:01:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.853s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:01:43 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.532[m] 84.722[deg]	[grasp_sample.py: 539]
+05/10 19:01:43 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:01:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:01:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:01:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:01:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:01:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:01:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:01:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072648m	[env.py: 870]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:01:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9188889   0.33960113  0.07264779] yaw=159.8deg	[env.py: 1019]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74593304  0.53107616  0.07264779] yaw=-168.2deg	[env.py: 1019]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92948066  0.61383236  0.07264779] yaw=-176.4deg	[env.py: 1019]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:01:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.4ms, total=76.4ms	[env.py: 1075]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.340, 0.073)	[env.py: 1079]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.8 deg	[env.py: 1082]
+05/10 19:01:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
+05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:01:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:01:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:01:45 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:01:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:01:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:01:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:01:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:01:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:01:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.382[m] 95.726[deg]	[grasp_sample.py: 539]
+05/10 19:01:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:01:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:01:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:01:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:01:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:02:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:02:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:02:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:02:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:02:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:02:27 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:02:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:02:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:02:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:02:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:02:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:02:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:02:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:03:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:03:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:03:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:03:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:03:02 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:03:02 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.445[deg]	[grasp_sample.py: 539]
+05/10 19:03:05 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:03:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:03:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:03:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.42s (batch: 4.08s, save: 10.34s)	[pipeline.py: 300]
+05/10 19:03:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:03:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:03:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:03:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:03:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:03:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:03:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043150m	[env.py: 870]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:03:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62709239  0.63318129  0.04315036] yaw=-167.6deg	[env.py: 1019]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:03:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=504.4ms, total=504.4ms	[env.py: 1075]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.627, 0.633, 0.043)	[env.py: 1079]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg	[env.py: 1082]
+05/10 19:03:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:03:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:03:07 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.86s:
+  episode_total: mean=170.35s, total=340.70s, count=2, min=153475.4ms, max=187223.9ms
+  sensor_polling: mean=453.7ms, total=264.08s, count=582, min=386.5ms, max=938.1ms
+  physics_step: mean=21.5ms, total=12.54s, count=582, min=13.4ms, max=67.3ms
+  save_trajectories: mean=10.34s, total=10.34s, count=1, min=10338.8ms, max=10338.8ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4077.0ms, max=4077.0ms
+  task_sampling: mean=431.2ms, total=862.5ms, count=2, min=350.1ms, max=512.4ms
+  task_specific_sample: mean=427.6ms, total=855.3ms, count=2, min=346.2ms, max=509.0ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=440.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:03:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:03:07 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:03:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:03:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:03:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:03:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.229s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:03:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:03:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:03:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:03:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:03:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:03:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:03:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006831m	[env.py: 870]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:03:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90131698  0.57054516  0.00683104] yaw=-168.7deg	[env.py: 1019]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:03:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:03:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.646[m] 83.299[deg]	[grasp_sample.py: 539]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12396136  1.12706501  0.00683104] yaw=-121.1deg	[env.py: 1019]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14496754  1.1188614   0.00683104] yaw=-137.6deg	[env.py: 1019]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:03:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.4ms, total=272.5ms	[env.py: 1075]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.571, 0.007)	[env.py: 1079]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg	[env.py: 1082]
+05/10 19:03:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/10 19:03:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:03:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:03:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:03:10 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:03:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:03:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:03:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:03:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:03:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:03:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:03:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.359[m] 88.202[deg]	[grasp_sample.py: 539]
+05/10 19:03:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:03:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:03:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:03:12 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:03:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:03:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:03:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:03:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:03:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:03:30 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.406s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:03:30 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.800[deg]	[grasp_sample.py: 539]
+05/10 19:03:31 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:03:33 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:03:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:03:33 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:03:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:03:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:03:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:03:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:03:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:03:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:03:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009198m	[env.py: 870]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:03:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80790499  0.19076359  0.00919786] yaw=162.0deg	[env.py: 1019]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9321197   0.74229317  0.00919786] yaw=-162.0deg	[env.py: 1019]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80230296  0.20440691  0.00919786] yaw=155.1deg	[env.py: 1019]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:03:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=401.2ms, total=401.2ms	[env.py: 1075]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.191, 0.009)	[env.py: 1079]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.0 deg	[env.py: 1082]
+05/10 19:03:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:03:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:03:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:03:34 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:03:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:03:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:03:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:03:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:03:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:03:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.509[m] 87.422[deg]	[grasp_sample.py: 539]
+05/10 19:03:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:03:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:03:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:03:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:03:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:03:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:03:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.75s (batch: 4.64s, save: 10.11s)	[pipeline.py: 300]
+05/10 19:03:48 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.33s:
+  episode_total: mean=184.85s, total=184.85s, count=1, min=184852.2ms, max=184852.2ms
+  sensor_polling: mean=456.6ms, total=136.98s, count=300, min=384.6ms, max=739.9ms
+  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10105.0ms, max=10105.0ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=13.5ms, max=78.4ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4643.0ms, max=4643.0ms
+  task_sampling: mean=328.0ms, total=328.0ms, count=1, min=328.0ms, max=328.0ms
+  task_specific_sample: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=484.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:03:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:03:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:03:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:03:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:03:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:03:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:03:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:03:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:03:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:03:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007985m	[env.py: 870]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:03:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74347965  0.15783587  0.00798453] yaw=170.2deg	[env.py: 1019]
+05/10 19:03:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67899164  0.40389617  0.00798453] yaw=185.4deg	[env.py: 1019]
+05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0314048   1.06181573  0.00798453] yaw=-145.8deg	[env.py: 1019]
+05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:03:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.0ms	[env.py: 1075]
+05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.158, 0.008)	[env.py: 1079]
+05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg	[env.py: 1082]
+05/10 19:03:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/10 19:03:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:03:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:03:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:03:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:03:50 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:03:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:03:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:03:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:03:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:03:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.516s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:03:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.559[m] 82.312[deg]	[grasp_sample.py: 539]
+05/10 19:03:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:03:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:03:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:03:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:03:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:04:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:04:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:04:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:04:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:04:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:04:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:04:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:04:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:04:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:05:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:05:36 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:05:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:05:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:05:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:05:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:05:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:05:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:05:57 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/10 19:05:58 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:05:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:05:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:05:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:06:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:06:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:06:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:06:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:06:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:06:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:06:00 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:06:00 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.146[deg]	[grasp_sample.py: 539]
+05/10 19:06:01 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:06:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:06:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:06:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:06:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:06:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:06:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030937m	[env.py: 870]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:06:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87686889  1.01125251  0.03093666] yaw=-139.2deg	[env.py: 1019]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92854805  0.93516997  0.03093666] yaw=-148.0deg	[env.py: 1019]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71858181  0.63063159  0.03093666] yaw=-179.3deg	[env.py: 1019]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:06:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.4ms, total=258.4ms	[env.py: 1075]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.877, 1.011, 0.031)	[env.py: 1079]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg	[env.py: 1082]
+05/10 19:06:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:06:04 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:06:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:06:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:06:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:06:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:06:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.481s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:06:09 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.569[m] 91.324[deg]	[grasp_sample.py: 539]
+05/10 19:06:11 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:06:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:06:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:06:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.41s (batch: 4.01s, save: 10.40s)	[pipeline.py: 300]
+05/10 19:06:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:06:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:06:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.25s (batch: 3.86s, save: 11.39s)	[pipeline.py: 300]
+05/10 19:06:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:06:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:06:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:06:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:06:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:06:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030934m	[env.py: 870]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:06:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73955949  0.45507532  0.03093433] yaw=172.0deg	[env.py: 1019]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92737788  1.09649015  0.03093433] yaw=-147.7deg	[env.py: 1019]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:06:13 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
+  episode_total: mean=183.76s, total=183.76s, count=1, min=183759.0ms, max=183759.0ms
+  sensor_polling: mean=463.6ms, total=135.83s, count=293, min=396.5ms, max=735.1ms
+  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11393.7ms, max=11393.7ms
+  physics_step: mean=21.5ms, total=6.30s, count=293, min=16.5ms, max=63.1ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.3ms, max=3857.3ms
+  task_sampling: mean=530.5ms, total=530.5ms, count=1, min=530.5ms, max=530.5ms
+  task_specific_sample: mean=525.9ms, total=525.9ms, count=1, min=525.9ms, max=525.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=594.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86911205  0.76872358  0.03093433] yaw=-162.0deg	[env.py: 1019]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:06:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.9ms, total=70.9ms	[env.py: 1075]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.740, 0.455, 0.031)	[env.py: 1079]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg	[env.py: 1082]
+05/10 19:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
+  episode_total: mean=138.44s, total=276.88s, count=2, min=90435.9ms, max=186442.1ms
+  sensor_polling: mean=458.0ms, total=207.47s, count=453, min=379.5ms, max=699.0ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10401.1ms, max=10401.1ms
+  physics_step: mean=21.5ms, total=9.75s, count=453, min=16.0ms, max=55.5ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.9ms, max=4012.9ms
+  task_sampling: mean=586.8ms, total=1.17s, count=2, min=401.4ms, max=772.2ms
+  task_specific_sample: mean=583.3ms, total=1.17s, count=2, min=397.7ms, max=768.9ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=427.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:06:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:06:13 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:06:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:06:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:06:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:06:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:06:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:06:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.511[m] 91.184[deg]	[grasp_sample.py: 539]
+05/10 19:06:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:06:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:06:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:06:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:06:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046622m	[env.py: 870]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75807543  0.89876004  0.04662154] yaw=-151.2deg	[env.py: 1019]
+05/10 19:06:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:06:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:06:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:06:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:06:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097797m	[env.py: 870]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:06:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68685243  0.48096134  0.04662154] yaw=172.9deg	[env.py: 1019]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16843435  1.08595992  0.09779739] yaw=-132.7deg	[env.py: 1019]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98828512  0.156259    0.04662154] yaw=146.9deg	[env.py: 1019]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.5ms, total=242.5ms	[env.py: 1075]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.899, 0.047)	[env.py: 1079]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94618036  0.86635164  0.09779739] yaw=-150.3deg	[env.py: 1019]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94319759  0.73073794  0.09779739] yaw=-160.6deg	[env.py: 1019]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:06:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=349.5ms, total=349.6ms	[env.py: 1075]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.168, 1.086, 0.098)	[env.py: 1079]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.7 deg	[env.py: 1082]
+05/10 19:06:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:06:15 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:06:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:06:15 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:06:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:06:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:06:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:06:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:06:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:06:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:06:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:06:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:06:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.373[m] 84.295[deg]	[grasp_sample.py: 539]
+05/10 19:06:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:06:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:06:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:06:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.491s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:06:17 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.627[m] 84.918[deg]	[grasp_sample.py: 539]
+05/10 19:06:18 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:06:19 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:06:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:06:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:06:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:06:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:06:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:06:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063249m	[env.py: 870]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:06:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91031426  0.89475763  0.06324946] yaw=-148.2deg	[env.py: 1019]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74657931  0.29955688  0.06324946] yaw=173.1deg	[env.py: 1019]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10523343  1.21377645  0.06324946] yaw=-117.9deg	[env.py: 1019]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:06:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.3ms	[env.py: 1075]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.895, 0.063)	[env.py: 1079]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg	[env.py: 1082]
+05/10 19:06:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:06:20 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:06:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:06:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:06:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:06:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:06:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:06:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.480[m] 96.496[deg]	[grasp_sample.py: 539]
+05/10 19:06:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:06:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:06:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:06:40 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:06:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:06:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:06:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:06:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:06:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:06:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.58s (batch: 4.65s, save: 8.92s)	[pipeline.py: 300]
+05/10 19:06:55 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
+  episode_total: mean=185.12s, total=185.12s, count=1, min=185123.4ms, max=185123.4ms
+  sensor_polling: mean=457.2ms, total=137.15s, count=300, min=376.7ms, max=747.5ms
+  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8924.7ms, max=8924.7ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=14.0ms, max=56.4ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4651.5ms, max=4651.5ms
+  task_sampling: mean=416.9ms, total=416.9ms, count=1, min=416.9ms, max=416.9ms
+  task_specific_sample: mean=412.8ms, total=412.8ms, count=1, min=412.8ms, max=412.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:06:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:06:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074251m	[env.py: 870]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89610773  0.43011314  0.07425114] yaw=182.1deg	[env.py: 1019]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68564026  0.28016863  0.07425114] yaw=161.6deg	[env.py: 1019]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76316685 -0.02901475  0.07425114] yaw=156.1deg	[env.py: 1019]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.8ms, total=141.8ms	[env.py: 1075]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.430, 0.074)	[env.py: 1079]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 182.1 deg	[env.py: 1082]
+05/10 19:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:06:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:06:56 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:06:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:06:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:06:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:06:57 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 103.346[deg]	[grasp_sample.py: 539]
+05/10 19:06:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:06:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:06:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:07:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:07:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:07:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:07:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:07:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:07:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:07:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:07:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:07:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:07:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:07:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:08:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:08:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:08:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:08:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:08:27 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.613[deg]	[grasp_sample.py: 539]
+05/10 19:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:28 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:08:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:08:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:08:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:08:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:08:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039586m	[env.py: 870]
+05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:08:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=263.4ms, total=263.4ms	[env.py: 1105]
+05/10 19:08:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 19:08:30 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 19:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:08:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:08:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:08:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:08:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:08:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:08:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090367m	[env.py: 870]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:08:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07232484  0.97354684  0.09036695] yaw=-148.3deg	[env.py: 1019]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04682759  1.01758559  0.09036695] yaw=-131.5deg	[env.py: 1019]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84873829  0.71781361  0.09036695] yaw=-171.3deg	[env.py: 1019]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:08:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.0ms, total=103.0ms	[env.py: 1075]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.974, 0.090)	[env.py: 1079]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg	[env.py: 1082]
+05/10 19:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
+05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:08:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:08:32 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:08:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:08:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:08:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:08:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:08:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:08:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.359[m] 82.849[deg]	[grasp_sample.py: 539]
+05/10 19:08:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:08:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:08:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:08:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:08:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:08:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:08:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:08:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.345s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:08:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.516[deg]	[grasp_sample.py: 539]
+05/10 19:08:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:08:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:08:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:08:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:08:45 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:08:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:08:55 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:09:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:09:07 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:09:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:09:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:09:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:09:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:09:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:09:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.37s (batch: 3.57s, save: 9.80s)	[pipeline.py: 300]
+05/10 19:09:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:09:21 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.15s:
+  episode_total: mean=92.57s, total=185.15s, count=2, min=3369.0ms, max=181778.7ms
+  sensor_polling: mean=451.8ms, total=135.53s, count=300, min=389.8ms, max=827.2ms
+  save_trajectories: mean=9.80s, total=9.80s, count=1, min=9802.8ms, max=9802.8ms
+  physics_step: mean=20.5ms, total=6.14s, count=300, min=16.6ms, max=51.4ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3571.1ms, max=3571.1ms
+  task_sampling: mean=572.8ms, total=1.15s, count=2, min=484.2ms, max=661.5ms
+  task_specific_sample: mean=569.8ms, total=1.14s, count=2, min=481.6ms, max=658.1ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=366.8us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:09:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:09:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:09:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:09:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048223m	[env.py: 870]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94346397  1.20337296  0.04822252] yaw=-137.3deg	[env.py: 1019]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89964057  0.6975012   0.04822252] yaw=-170.2deg	[env.py: 1019]
+05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69020021  0.75385263  0.04822252] yaw=-157.5deg	[env.py: 1019]
+05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:09:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=404.7ms, total=404.8ms	[env.py: 1075]
+05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.203, 0.048)	[env.py: 1079]
+05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
+05/10 19:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/10 19:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:09:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:09:24 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:09:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:09:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:09:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:09:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:09:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.250s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:09:26 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.623[m] 90.238[deg]	[grasp_sample.py: 539]
+05/10 19:09:28 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:09:28 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:09:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:09:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:09:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:09:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:09:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:09:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:09:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082278m	[env.py: 870]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:09:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03936046  0.95452202  0.08227833] yaw=-153.0deg	[env.py: 1019]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92731733  0.15048     0.08227833] yaw=165.4deg	[env.py: 1019]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.794161    0.79167249  0.08227833] yaw=-168.6deg	[env.py: 1019]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:09:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.7ms	[env.py: 1075]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.955, 0.082)	[env.py: 1079]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg	[env.py: 1082]
+05/10 19:09:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:09:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:09:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:09:30 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:09:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:09:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:09:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:09:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:09:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:09:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.405[m] 87.368[deg]	[grasp_sample.py: 539]
+05/10 19:09:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:09:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:09:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:09:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:09:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:09:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.64s (batch: 4.89s, save: 9.75s)	[pipeline.py: 300]
+05/10 19:09:32 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=2.55s:
+  episode_total: mean=78.19s, total=469.16s, count=6, min=3228.2ms, max=199425.2ms
+  sensor_polling: mean=459.1ms, total=349.36s, count=761, min=392.2ms, max=906.3ms
+  physics_step: mean=21.8ms, total=16.60s, count=761, min=14.1ms, max=60.6ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9748.6ms, max=9748.6ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4892.7ms, max=4892.7ms
+  task_sampling: mean=425.7ms, total=2.55s, count=6, min=298.5ms, max=668.0ms
+  task_specific_sample: mean=422.6ms, total=2.54s, count=6, min=296.2ms, max=665.1ms
+  scene_randomize: mean=1.5ms, total=9.2ms, count=6, min=1.1ms, max=2.1ms
+  mj_forward_sync: mean=437.3us, total=2.6ms, count=6, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:09:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:09:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:09:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:09:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:09:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:09:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:09:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059708m	[env.py: 870]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:09:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95830597  0.14220888  0.05970755] yaw=157.1deg	[env.py: 1019]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95401952  0.68471503  0.05970755] yaw=-173.4deg	[env.py: 1019]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16587387  1.14275301  0.05970755] yaw=-130.1deg	[env.py: 1019]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:09:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=89.7ms, total=89.7ms	[env.py: 1075]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.142, 0.060)	[env.py: 1079]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg	[env.py: 1082]
+05/10 19:09:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:09:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:09:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:09:34 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:09:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:09:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:09:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:09:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:09:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:09:35 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.425[m] 94.625[deg]	[grasp_sample.py: 539]
+05/10 19:09:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:09:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:09:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:09:48 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:09:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:09:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:10:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:10:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:10:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.95s (batch: 4.69s, save: 11.26s)	[pipeline.py: 300]
+05/10 19:10:04 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s:
+  episode_total: mean=188.05s, total=188.05s, count=1, min=188049.3ms, max=188049.3ms
+  sensor_polling: mean=458.9ms, total=137.66s, count=300, min=382.3ms, max=849.7ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11261.4ms, max=11261.4ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=13.7ms, max=74.2ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4689.4ms, max=4689.4ms
+  task_sampling: mean=395.5ms, total=395.5ms, count=1, min=395.5ms, max=395.5ms
+  task_specific_sample: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=522.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:10:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:10:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:10:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:10:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:10:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:10:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:10:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034861m	[env.py: 870]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:10:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93175871  0.6391646   0.03486101] yaw=-158.4deg	[env.py: 1019]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85008075  0.09837553  0.03486101] yaw=144.6deg	[env.py: 1019]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99360456  0.90140209  0.03486101] yaw=-149.2deg	[env.py: 1019]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:10:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.0ms, total=92.0ms	[env.py: 1075]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.639, 0.035)	[env.py: 1079]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
+05/10 19:10:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:10:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:10:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:10:06 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:10:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:10:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:10:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:10:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:10:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:10:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.302[m] 76.391[deg]	[grasp_sample.py: 539]
+05/10 19:10:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:10:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:10:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:10:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:10:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:10:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:10:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:10:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:10:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:10:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:10:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:10:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:10:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:11:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:11:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:11:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:11:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:11:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:11:05 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.411[deg]	[grasp_sample.py: 539]
+05/10 19:11:06 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:11:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:11:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:11:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:11:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:11:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:11:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:11:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023199m	[env.py: 870]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:11:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89176196  1.06348649  0.02319869] yaw=-147.7deg	[env.py: 1019]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79867554  1.04039615  0.02319869] yaw=-141.8deg	[env.py: 1019]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87219826  0.3828309   0.02319869] yaw=162.1deg	[env.py: 1019]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:11:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms	[env.py: 1075]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 1.063, 0.023)	[env.py: 1079]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg	[env.py: 1082]
+05/10 19:11:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:11:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:11:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:11:08 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:11:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:11:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:11:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:11:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:11:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:11:10 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.583[m] 81.237[deg]	[grasp_sample.py: 539]
+05/10 19:11:11 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:11:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:11:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:11:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:11:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:11:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:11:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092021m	[env.py: 870]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:11:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93446649  1.18028066  0.09202085] yaw=-137.8deg	[env.py: 1019]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77524713  0.39751339  0.09202085] yaw=175.1deg	[env.py: 1019]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:11:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.2ms	[env.py: 1075]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.934, 1.180, 0.092)	[env.py: 1079]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg	[env.py: 1082]
+05/10 19:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/10 19:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:11:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:11:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:11:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:11:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:11:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:11:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:11:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.366s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:11:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.612[m] 79.747[deg]	[grasp_sample.py: 539]
+05/10 19:11:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:11:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:11:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:11:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:11:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:11:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:11:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:11:31 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:11:31 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.138[deg]	[grasp_sample.py: 539]
+05/10 19:11:32 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:11:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:11:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:11:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:11:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:11:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:11:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:11:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025371m	[env.py: 870]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:11:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62372097  0.54540133  0.02537102] yaw=-173.4deg	[env.py: 1019]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75218811  0.18054499  0.02537102] yaw=154.5deg	[env.py: 1019]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88744511  1.00673041  0.02537102] yaw=-138.6deg	[env.py: 1019]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:11:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=324.6ms, total=324.6ms	[env.py: 1075]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.545, 0.025)	[env.py: 1079]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg	[env.py: 1082]
+05/10 19:11:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:11:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:11:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:11:34 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:11:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:11:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:11:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:11:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:11:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:11:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.654[m] 99.150[deg]	[grasp_sample.py: 539]
+05/10 19:11:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:11:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:11:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:11:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:12:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:12:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:12:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:12:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:12:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:12:26 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:12:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:12:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:12:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:12:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.26s (batch: 4.02s, save: 11.23s)	[pipeline.py: 300]
+05/10 19:12:34 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.13s:
+  episode_total: mean=94.92s, total=189.83s, count=2, min=4534.5ms, max=185299.0ms
+  sensor_polling: mean=459.4ms, total=137.83s, count=300, min=397.2ms, max=1061.9ms
+  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11233.4ms, max=11233.4ms
+  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.6ms, max=55.3ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4021.6ms, max=4021.6ms
+  task_sampling: mean=567.5ms, total=1.13s, count=2, min=370.1ms, max=764.8ms
+  task_specific_sample: mean=563.8ms, total=1.13s, count=2, min=367.4ms, max=760.3ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=495.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:12:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:12:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:12:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:12:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:12:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:12:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:12:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084899m	[env.py: 870]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:12:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93815121  0.53433215  0.08489949] yaw=-176.6deg	[env.py: 1019]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78568417  0.90194166  0.08489949] yaw=-165.7deg	[env.py: 1019]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79285745  0.468084    0.08489949] yaw=182.5deg	[env.py: 1019]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:12:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.3ms, total=101.4ms	[env.py: 1075]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.534, 0.085)	[env.py: 1079]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg	[env.py: 1082]
+05/10 19:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:12:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:12:36 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:12:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:12:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:12:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.435s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:12:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.311[m] 85.298[deg]	[grasp_sample.py: 539]
+05/10 19:12:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:12:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:12:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:12:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:12:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:12:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:12:47 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/10 19:12:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:12:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:12:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:12:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:12:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.03s (batch: 3.71s, save: 8.32s)	[pipeline.py: 300]
+05/10 19:13:00 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.39s:
+  episode_total: mean=174.04s, total=174.04s, count=1, min=174038.7ms, max=174038.7ms
+  sensor_polling: mean=465.3ms, total=130.29s, count=280, min=403.9ms, max=811.7ms
+  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8321.5ms, max=8321.5ms
+  physics_step: mean=21.6ms, total=6.06s, count=280, min=13.4ms, max=50.3ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3705.5ms, max=3705.5ms
+  task_sampling: mean=388.8ms, total=388.8ms, count=1, min=388.8ms, max=388.8ms
+  task_specific_sample: mean=385.7ms, total=385.7ms, count=1, min=385.7ms, max=385.7ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:13:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:13:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:13:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087099m	[env.py: 870]
+05/10 19:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87930123  0.16866367  0.087099  ] yaw=169.8deg	[env.py: 1019]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77818913  0.68164191  0.087099  ] yaw=-158.8deg	[env.py: 1019]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73513428  0.83167668  0.087099  ] yaw=-152.3deg	[env.py: 1019]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:13:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms	[env.py: 1075]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.169, 0.087)	[env.py: 1079]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
+05/10 19:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/10 19:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:13:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:13:02 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:13:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:13:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:13:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:13:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:13:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.271s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:13:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.437[m] 87.577[deg]	[grasp_sample.py: 539]
+05/10 19:13:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:13:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:13:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:13:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:13:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:13:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:13:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:13:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:13:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:13:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:13:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:13:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:13:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:13:34 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:13:34 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.802[deg]	[grasp_sample.py: 539]
+05/10 19:13:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:13:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:13:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:13:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:13:54 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:13:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:14:00 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:14:05 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:14:13 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:14:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:14:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:14:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:14:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:14:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.28s (batch: 3.56s, save: 7.73s)	[pipeline.py: 300]
+05/10 19:14:25 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:14:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:14:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:14:25 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.74s:
+  episode_total: mean=96.75s, total=483.75s, count=5, min=272.4ms, max=192257.1ms
+  sensor_polling: mean=458.0ms, total=384.26s, count=839, min=386.2ms, max=972.1ms
+  physics_step: mean=21.2ms, total=17.79s, count=839, min=13.7ms, max=68.4ms
+  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7727.6ms, max=7727.6ms
+  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3556.5ms, max=3556.5ms
+  task_specific_sample: mean=398.1ms, total=1.99s, count=5, min=268.4ms, max=600.9ms
+  task_sampling: mean=433.9ms, total=1.74s, count=4, min=330.7ms, max=605.0ms
+  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
+  scene_randomize: mean=1.5ms, total=7.5ms, count=5, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=421.6us, total=2.1ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:14:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:14:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:14:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:14:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:14:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:14:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:14:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090076m	[env.py: 870]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:14:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82226069  0.71575217  0.09007552] yaw=-157.6deg	[env.py: 1019]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70525732  0.47701535  0.09007552] yaw=190.5deg	[env.py: 1019]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86716768  0.759505    0.09007552] yaw=-167.4deg	[env.py: 1019]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:14:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms	[env.py: 1075]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.716, 0.090)	[env.py: 1079]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg	[env.py: 1082]
+05/10 19:14:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:14:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:14:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:14:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:14:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:14:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:14:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:14:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:14:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.481[m] 90.613[deg]	[grasp_sample.py: 539]
+05/10 19:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:14:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:14:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:14:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:14:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:14:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.50s (batch: 3.73s, save: 9.77s)	[pipeline.py: 300]
+05/10 19:14:39 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.92s:
+  episode_total: mean=151.66s, total=303.33s, count=2, min=118162.7ms, max=185165.9ms
+  sensor_polling: mean=467.3ms, total=235.03s, count=503, min=399.8ms, max=791.0ms
+  physics_step: mean=21.8ms, total=10.96s, count=503, min=13.7ms, max=47.7ms
+  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9766.2ms, max=9766.2ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3732.5ms, max=3732.5ms
+  task_sampling: mean=460.2ms, total=920.3ms, count=2, min=354.7ms, max=565.6ms
+  task_specific_sample: mean=455.9ms, total=911.7ms, count=2, min=350.7ms, max=561.0ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=477.4us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:14:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:14:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:14:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:14:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:14:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:14:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:14:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:14:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:14:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033890m	[env.py: 870]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:14:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71386259  0.42507214  0.0338905 ] yaw=178.0deg	[env.py: 1019]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70366184  0.49535685  0.0338905 ] yaw=-181.9deg	[env.py: 1019]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03423039  1.05802274  0.0338905 ] yaw=-132.3deg	[env.py: 1019]
+05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:14:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.6ms, total=150.6ms	[env.py: 1075]
+05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.425, 0.034)	[env.py: 1079]
+05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg	[env.py: 1082]
+05/10 19:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/10 19:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:14:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:14:41 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:14:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:14:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:14:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:14:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:14:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:14:41 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.546[m] 94.445[deg]	[grasp_sample.py: 539]
+05/10 19:14:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:14:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:14:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:14:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:14:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:14:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:15:00 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:15:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:15:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:15:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:15:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:15:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:15:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:15:06 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:15:06 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.683[deg]	[grasp_sample.py: 539]
+05/10 19:15:08 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:15:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:15:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:15:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:15:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:15:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:15:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:15:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013906m	[env.py: 870]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:15:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79111073  0.41280059  0.01390552] yaw=179.5deg	[env.py: 1019]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05063276  1.00761634  0.01390552] yaw=-135.5deg	[env.py: 1019]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6477955   0.41617399  0.01390552] yaw=178.4deg	[env.py: 1019]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:15:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=338.2ms, total=338.2ms	[env.py: 1075]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.413, 0.014)	[env.py: 1079]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.5 deg	[env.py: 1082]
+05/10 19:15:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:15:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:15:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:15:10 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:15:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:15:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:15:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:15:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:15:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:15:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.482[m] 95.894[deg]	[grasp_sample.py: 539]
+05/10 19:15:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:15:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:15:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:15:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:15:23 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:15:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:15:23 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/10 19:15:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:15:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:15:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:15:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:15:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.17s (batch: 3.69s, save: 8.48s)	[pipeline.py: 300]
+05/10 19:15:36 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
+  episode_total: mean=179.47s, total=179.47s, count=1, min=179469.8ms, max=179469.8ms
+  sensor_polling: mean=460.0ms, total=130.19s, count=283, min=388.9ms, max=713.7ms
+  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8479.4ms, max=8479.4ms
+  physics_step: mean=21.2ms, total=5.99s, count=283, min=13.6ms, max=48.3ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3693.6ms, max=3693.6ms
+  task_sampling: mean=362.2ms, total=362.2ms, count=1, min=362.2ms, max=362.2ms
+  task_specific_sample: mean=358.5ms, total=358.5ms, count=1, min=358.5ms, max=358.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=399.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:15:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:15:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:15:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:15:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:15:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:15:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:15:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:15:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087474m	[env.py: 870]
+05/10 19:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:15:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00903823  1.33425582  0.08747381] yaw=-129.3deg	[env.py: 1019]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87235157  0.47878457  0.08747381] yaw=176.9deg	[env.py: 1019]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97659762  0.16095397  0.08747381] yaw=153.3deg	[env.py: 1019]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:15:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms	[env.py: 1075]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 1.334, 0.087)	[env.py: 1079]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.3 deg	[env.py: 1082]
+05/10 19:15:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/10 19:15:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:15:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:15:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:15:38 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:15:38 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:15:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:15:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:15:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:15:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:15:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.097s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 19:15:41 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 19:15:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:15:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:15:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:15:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:15:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:15:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:15:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078773m	[env.py: 870]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:15:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78625291  0.39804339  0.0787727 ] yaw=169.6deg	[env.py: 1019]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87345999  0.71966789  0.0787727 ] yaw=-159.4deg	[env.py: 1019]
+05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96640995  0.84121504  0.0787727 ] yaw=-143.0deg	[env.py: 1019]
+05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:15:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=681.8ms, total=681.8ms	[env.py: 1075]
+05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.398, 0.079)	[env.py: 1079]
+05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
+05/10 19:15:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/10 19:15:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:15:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:15:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:15:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:15:44 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:15:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:15:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:15:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:15:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:15:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.295s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:15:45 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.471[m] 85.788[deg]	[grasp_sample.py: 539]
+05/10 19:15:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:15:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:15:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:15:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:15:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:16:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:16:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:16:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:16:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:16:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:16:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:17:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:17:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:17:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:17:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:17:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:17:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.377s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:17:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.419[deg]	[grasp_sample.py: 539]
+05/10 19:17:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:17:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:17:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:17:20 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:17:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:17:24 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:17:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:17:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:17:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.28s (batch: 3.88s, save: 7.40s)	[pipeline.py: 300]
+05/10 19:17:32 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.36s:
+  episode_total: mean=185.68s, total=185.68s, count=1, min=185682.6ms, max=185682.6ms
+  sensor_polling: mean=476.6ms, total=142.98s, count=300, min=403.8ms, max=863.0ms
+  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7399.2ms, max=7399.2ms
+  physics_step: mean=22.2ms, total=6.67s, count=300, min=14.3ms, max=134.0ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.7ms, max=3875.7ms
+  task_sampling: mean=356.1ms, total=356.1ms, count=1, min=356.1ms, max=356.1ms
+  task_specific_sample: mean=352.7ms, total=352.7ms, count=1, min=352.7ms, max=352.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=380.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:17:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:17:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:17:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:17:33 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:17:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:17:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:17:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057801m	[env.py: 870]
+05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:17:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06837964  1.16566132  0.05780111] yaw=-140.0deg	[env.py: 1019]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99678145  1.05440216  0.05780111] yaw=-146.4deg	[env.py: 1019]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:17:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.1ms	[env.py: 1075]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.166, 0.058)	[env.py: 1079]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg	[env.py: 1082]
+05/10 19:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/10 19:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:17:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:17:34 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:17:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:17:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:17:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:17:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:17:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.551s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:17:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.497[m] 84.734[deg]	[grasp_sample.py: 539]
+05/10 19:17:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:17:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:17:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:17:39 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:17:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:17:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:17:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:17:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:17:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:17:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:17:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:17:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:17:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:17:56 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:17:56 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.213[deg]	[grasp_sample.py: 539]
+05/10 19:17:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:17:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:17:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:18:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:18:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:18:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.54s (batch: 4.38s, save: 8.16s)	[pipeline.py: 300]
+05/10 19:18:00 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s:
+  episode_total: mean=199.80s, total=199.80s, count=1, min=199799.2ms, max=199799.2ms
+  sensor_polling: mean=469.2ms, total=140.75s, count=300, min=401.2ms, max=846.0ms
+  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8164.2ms, max=8164.2ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=13.5ms, max=50.1ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4375.6ms, max=4375.6ms
+  task_sampling: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms
+  task_specific_sample: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=562.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:18:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:18:01 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:18:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:18:01 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:18:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:18:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:18:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:18:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:18:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:18:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:18:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069916m	[env.py: 870]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:18:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91429128  0.36425648  0.06991551] yaw=162.2deg	[env.py: 1019]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92319623  1.03182846  0.06991551] yaw=-145.7deg	[env.py: 1019]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90644387  0.86824515  0.06991551] yaw=-156.4deg	[env.py: 1019]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:18:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.1ms, total=122.1ms	[env.py: 1075]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.364, 0.070)	[env.py: 1079]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg	[env.py: 1082]
+05/10 19:18:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.797m	[env.py: 1086]
+05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:18:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:18:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:18:02 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:18:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:18:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:18:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:18:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:18:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:18:03 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.352[m] 89.109[deg]	[grasp_sample.py: 539]
+05/10 19:18:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:18:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:18:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:18:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:18:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:18:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:18:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:18:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.24s (batch: 3.92s, save: 11.32s)	[pipeline.py: 300]
+05/10 19:18:17 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.06s:
+  episode_total: mean=157.01s, total=314.03s, count=2, min=126440.7ms, max=187587.7ms
+  sensor_polling: mean=460.0ms, total=239.18s, count=520, min=380.0ms, max=803.1ms
+  physics_step: mean=22.9ms, total=11.90s, count=520, min=14.0ms, max=97.8ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11320.5ms, max=11320.5ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.0ms, max=3920.0ms
+  task_sampling: mean=531.1ms, total=1.06s, count=2, min=458.1ms, max=604.0ms
+  task_specific_sample: mean=525.5ms, total=1.05s, count=2, min=450.4ms, max=600.6ms
+  mj_forward_sync: mean=2.5ms, total=5.0ms, count=2, min=0.5ms, max=4.5ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.6ms, max=2.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:18:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:18:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:18:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:18:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:18:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:18:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:18:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061247m	[env.py: 870]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:18:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13202517  1.19086047  0.06124704] yaw=-130.4deg	[env.py: 1019]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87770832  1.00261835  0.06124704] yaw=-143.0deg	[env.py: 1019]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:18:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=364.7ms, total=364.7ms	[env.py: 1075]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.191, 0.061)	[env.py: 1079]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg	[env.py: 1082]
+05/10 19:18:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:18:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:18:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:18:20 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:18:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:18:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:18:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:18:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:18:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:18:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.469[m] 80.068[deg]	[grasp_sample.py: 539]
+05/10 19:18:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:18:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:18:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:18:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:18:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:18:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:18:37 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:18:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:18:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:18:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:19:03 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:19:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:19:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:19:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:19:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:19:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:19:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.16s (batch: 3.87s, save: 8.29s)	[pipeline.py: 300]
+05/10 19:19:15 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=1.44s:
+  episode_total: mean=108.08s, total=216.16s, count=2, min=3836.4ms, max=212319.3ms
+  sensor_polling: mean=468.9ms, total=140.67s, count=300, min=391.9ms, max=1037.0ms
+  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8288.1ms, max=8288.1ms
+  physics_step: mean=22.1ms, total=6.63s, count=300, min=14.6ms, max=89.4ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.4ms, max=3872.4ms
+  task_sampling: mean=720.6ms, total=1.44s, count=2, min=460.1ms, max=981.1ms
+  task_specific_sample: mean=716.3ms, total=1.43s, count=2, min=456.2ms, max=976.5ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.6ms
+  mj_forward_sync: mean=585.8us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:19:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:19:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:19:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:19:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:19:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:19:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:19:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036768m	[env.py: 870]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:19:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7481991   0.68244235  0.03676838] yaw=-179.5deg	[env.py: 1019]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81006446  0.47823023  0.03676838] yaw=186.5deg	[env.py: 1019]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84978367  0.92646938  0.03676838] yaw=-151.3deg	[env.py: 1019]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:19:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.4ms	[env.py: 1075]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.682, 0.037)	[env.py: 1079]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -179.5 deg	[env.py: 1082]
+05/10 19:19:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:19:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:19:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:19:17 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:19:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:19:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:19:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:19:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:19:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:19:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.515s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:19:19 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.521[m] 85.868[deg]	[grasp_sample.py: 539]
+05/10 19:19:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:19:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:19:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:19:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:19:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:19:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:19:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:19:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:19:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:19:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:19:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:19:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:19:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:19:50 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.673[deg]	[grasp_sample.py: 539]
+05/10 19:19:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:19:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:19:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:19:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:19:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:19:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:19:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:19:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:19:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.468s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:19:52 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.124[deg]	[grasp_sample.py: 539]
+05/10 19:19:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:19:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.413s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:19:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.673[deg]	[grasp_sample.py: 539]
+05/10 19:19:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:19:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:19:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:19:53 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:19:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:19:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:19:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:19:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:19:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:19:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:19:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:19:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055655m	[env.py: 870]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:19:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85604119  0.29991321  0.05565471] yaw=175.3deg	[env.py: 1019]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93877913  1.15611033  0.05565471] yaw=-133.5deg	[env.py: 1019]
+05/10 19:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:19:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=332.9ms, total=332.9ms	[env.py: 1075]
+05/10 19:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.300, 0.056)	[env.py: 1079]
+05/10 19:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg	[env.py: 1082]
+05/10 19:19:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/10 19:19:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:19:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:19:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:19:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:19:55 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:19:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:19:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:19:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:19:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:19:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:19:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.434s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:19:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.396[m] 86.617[deg]	[grasp_sample.py: 539]
+05/10 19:19:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:19:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:19:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:20:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:20:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:20:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:20:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:20:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.324s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:20:08 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.672[deg]	[grasp_sample.py: 539]
+05/10 19:20:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:20:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:20:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:20:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 19:20:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 19:20:19 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.39s:
+  episode_total: mean=137.24s, total=137.24s, count=1, min=137241.4ms, max=137241.4ms
+  sensor_polling: mean=481.3ms, total=100.10s, count=208, min=405.4ms, max=992.0ms
+  physics_step: mean=23.7ms, total=4.93s, count=208, min=11.9ms, max=103.6ms
+  task_sampling: mean=385.0ms, total=385.0ms, count=1, min=385.0ms, max=385.0ms
+  task_specific_sample: mean=381.9ms, total=381.9ms, count=1, min=381.9ms, max=381.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=386.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:20:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:20:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:20:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:20:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:20:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:20:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:20:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090484m	[env.py: 870]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:20:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:20:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91339618  0.19110336  0.09048423] yaw=169.6deg	[env.py: 1019]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91033214  0.90920914  0.09048423] yaw=-160.4deg	[env.py: 1019]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68067852  0.81703755  0.09048423] yaw=-157.5deg	[env.py: 1019]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:20:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms	[env.py: 1075]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.191, 0.090)	[env.py: 1079]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg	[env.py: 1082]
+05/10 19:20:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:20:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:20:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:20:21 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:20:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:20:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:20:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:20:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:20:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:20:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.408[m] 88.182[deg]	[grasp_sample.py: 539]
+05/10 19:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:20:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:20:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:20:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:20:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:20:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:20:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:20:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:20:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:20:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.420s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:20:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.105[m] 0.653[deg]	[grasp_sample.py: 539]
+05/10 19:20:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:20:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:20:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:20:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:20:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:20:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:20:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:20:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093094m	[env.py: 870]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:20:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62344828  0.3867221   0.09309448] yaw=180.5deg	[env.py: 1019]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88076545  0.39731517  0.09309448] yaw=168.0deg	[env.py: 1019]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:20:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.6ms, total=149.6ms	[env.py: 1075]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.623, 0.387, 0.093)	[env.py: 1079]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg	[env.py: 1082]
+05/10 19:20:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:20:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:20:31 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:20:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:20:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:20:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:20:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:20:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:20:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.615[m] 83.644[deg]	[grasp_sample.py: 539]
+05/10 19:20:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:20:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:20:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:20:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:20:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:20:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:20:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:21:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:21:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:21:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:50 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:21:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:21:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:21:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:21:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:21:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:54 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.383s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:21:54 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.918[deg]	[grasp_sample.py: 539]
+05/10 19:21:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:21:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:21:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:21:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:21:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:21:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:21:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:21:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:21:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.348s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:21:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.901[deg]	[grasp_sample.py: 539]
+05/10 19:21:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:21:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:21:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:21:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:22:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:22:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:22:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:22:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:22:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:22:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:22:13 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:22:13 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.324[deg]	[grasp_sample.py: 539]
+05/10 19:22:14 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:22:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:22:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:22:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:22:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:22:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:22:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:22:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:22:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:22:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:22:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024669m	[env.py: 870]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:22:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73679213  0.05392849  0.02466882] yaw=167.1deg	[env.py: 1019]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12525039  1.13441302  0.02466882] yaw=-133.7deg	[env.py: 1019]
+05/10 19:22:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:22:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.8ms	[env.py: 1075]
+05/10 19:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.054, 0.025)	[env.py: 1079]
+05/10 19:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg	[env.py: 1082]
+05/10 19:22:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/10 19:22:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:22:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:22:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:22:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:22:16 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:22:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:22:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:22:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:22:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:22:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:22:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:22:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:22:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:22:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:22:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.597[m] 85.037[deg]	[grasp_sample.py: 539]
+05/10 19:22:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:22:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:22:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:22:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:22:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:22:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:22:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.06s (batch: 4.01s, save: 8.04s)	[pipeline.py: 300]
+05/10 19:22:29 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s:
+  episode_total: mean=191.83s, total=191.83s, count=1, min=191830.8ms, max=191830.8ms
+  sensor_polling: mean=467.7ms, total=140.31s, count=300, min=389.6ms, max=715.3ms
+  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8042.9ms, max=8042.9ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.4ms, max=56.1ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.2ms, max=4012.2ms
+  task_sampling: mean=477.5ms, total=477.5ms, count=1, min=477.5ms, max=477.5ms
+  task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=380.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:22:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:22:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:22:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:22:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:22:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:22:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:22:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054017m	[env.py: 870]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:22:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14960527  1.13573657  0.05401719] yaw=-131.9deg	[env.py: 1019]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83490367  0.64903022  0.05401719] yaw=-179.5deg	[env.py: 1019]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95235789  0.43459283  0.05401719] yaw=169.8deg	[env.py: 1019]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms	[env.py: 1075]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.150, 1.136, 0.054)	[env.py: 1079]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg	[env.py: 1082]
+05/10 19:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:22:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:22:31 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:22:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:22:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:22:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:22:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:22:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.107s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:22:35 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.457[m] 80.686[deg]	[grasp_sample.py: 539]
+05/10 19:22:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:22:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:22:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:22:45 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:23:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:23:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:23:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:23:12 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:23:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:23:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:23:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:23:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:23:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.77s (batch: 4.35s, save: 8.42s)	[pipeline.py: 300]
+05/10 19:23:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
+  episode_total: mean=172.75s, total=345.50s, count=2, min=139174.7ms, max=206324.2ms
+  sensor_polling: mean=468.8ms, total=255.04s, count=544, min=381.4ms, max=950.5ms
+  physics_step: mean=23.0ms, total=12.53s, count=544, min=13.9ms, max=87.8ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8422.4ms, max=8422.4ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4352.3ms, max=4352.3ms
+  task_sampling: mean=515.6ms, total=1.03s, count=2, min=432.1ms, max=599.1ms
+  task_specific_sample: mean=512.2ms, total=1.02s, count=2, min=428.5ms, max=595.9ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=387.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:23:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:23:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:23:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:23:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:23:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:23:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:23:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067721m	[env.py: 870]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:23:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64056816  0.73729754  0.06772051] yaw=-157.1deg	[env.py: 1019]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68970916  0.61275353  0.06772051] yaw=-181.3deg	[env.py: 1019]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93497003  0.07258553  0.06772051] yaw=142.8deg	[env.py: 1019]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:23:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.3ms, total=134.3ms	[env.py: 1075]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.737, 0.068)	[env.py: 1079]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
+05/10 19:23:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:23:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:23:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:23:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:23:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:23:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:23:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:23:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:23:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:23:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.638[m] 86.125[deg]	[grasp_sample.py: 539]
+05/10 19:23:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:23:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:23:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:23:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:23:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:23:32 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:23:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:23:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:23:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:23:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:23:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:23:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:23:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.24s (batch: 4.01s, save: 7.23s)	[pipeline.py: 300]
+05/10 19:23:44 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.06s:
+  episode_total: mean=161.45s, total=322.91s, count=2, min=129955.9ms, max=192949.6ms
+  sensor_polling: mean=467.6ms, total=247.34s, count=529, min=393.1ms, max=962.6ms
+  physics_step: mean=22.8ms, total=12.08s, count=529, min=14.0ms, max=66.7ms
+  save_trajectories: mean=7.23s, total=7.23s, count=1, min=7231.4ms, max=7231.4ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.8ms, max=4012.8ms
+  task_sampling: mean=529.2ms, total=1.06s, count=2, min=389.2ms, max=669.3ms
+  task_specific_sample: mean=525.3ms, total=1.05s, count=2, min=385.7ms, max=664.9ms
+  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.8ms, max=2.9ms
+  mj_forward_sync: mean=485.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:23:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:23:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:23:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:23:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:23:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:23:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:23:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078231m	[env.py: 870]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:23:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68642908  0.25178267  0.07823135] yaw=165.8deg	[env.py: 1019]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:23:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.6ms, total=202.7ms	[env.py: 1075]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.252, 0.078)	[env.py: 1079]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg	[env.py: 1082]
+05/10 19:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:23:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:23:46 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:23:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:23:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:23:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:23:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:23:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:23:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.582[m] 83.747[deg]	[grasp_sample.py: 539]
+05/10 19:23:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:23:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:23:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:24:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:24:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:24:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:24:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:24:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:24:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:24:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:24:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:24:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:24:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:24:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:24:52 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.058[m] 9.513[deg]	[grasp_sample.py: 539]
+05/10 19:24:53 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:24:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:24:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:24:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:24:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:24:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:24:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:24:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:24:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:24:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081956m	[env.py: 870]
+05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:24:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:24:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94771017  0.86759464  0.08195639] yaw=-159.4deg	[env.py: 1019]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80261569  0.08894499  0.08195639] yaw=163.5deg	[env.py: 1019]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:24:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=487.8ms, total=487.8ms	[env.py: 1075]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.868, 0.082)	[env.py: 1079]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
+05/10 19:24:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/10 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:24:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:24:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:24:55 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:24:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:24:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:24:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:24:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 86.665[deg]	[grasp_sample.py: 539]
+05/10 19:24:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:24:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:24:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:24:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:25:01 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:25:27 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:25:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:25:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:25:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:25:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:25:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:25:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.68s (batch: 3.82s, save: 9.86s)	[pipeline.py: 300]
+05/10 19:25:41 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.83s:
+  episode_total: mean=159.61s, total=319.22s, count=2, min=113162.4ms, max=206061.9ms
+  sensor_polling: mean=459.1ms, total=228.62s, count=498, min=396.4ms, max=743.3ms
+  physics_step: mean=22.4ms, total=11.17s, count=498, min=13.7ms, max=56.7ms
+  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9855.4ms, max=9855.4ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.5ms, max=3823.5ms
+  task_sampling: mean=413.7ms, total=827.3ms, count=2, min=366.0ms, max=461.3ms
+  task_specific_sample: mean=409.6ms, total=819.2ms, count=2, min=362.9ms, max=456.3ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=449.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:25:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:25:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:25:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:25:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:25:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:25:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:25:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:25:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:25:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:25:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045478m	[env.py: 870]
+05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:25:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:25:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7849755   0.07059824  0.04547836] yaw=155.1deg	[env.py: 1019]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87994603  0.89636905  0.04547836] yaw=-152.2deg	[env.py: 1019]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:25:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=810.7ms, total=810.7ms	[env.py: 1075]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.071, 0.045)	[env.py: 1079]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg	[env.py: 1082]
+05/10 19:25:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/10 19:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:25:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:25:45 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:25:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:25:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:25:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:25:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:25:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:25:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.040s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:25:48 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.572[m] 93.635[deg]	[grasp_sample.py: 539]
+05/10 19:25:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:25:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:25:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:25:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:25:54 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:26:17 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:26:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:26:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:26:20 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:26:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:26:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:26:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.82s (batch: 3.97s, save: 7.85s)	[pipeline.py: 300]
+05/10 19:26:29 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s:
+  episode_total: mean=187.08s, total=187.08s, count=1, min=187076.0ms, max=187076.0ms
+  sensor_polling: mean=466.5ms, total=139.95s, count=300, min=391.8ms, max=992.5ms
+  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7847.1ms, max=7847.1ms
+  physics_step: mean=22.4ms, total=6.72s, count=300, min=15.0ms, max=87.7ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.1ms, max=3973.1ms
+  task_sampling: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
+  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=396.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:26:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:26:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:26:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:26:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:26:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:26:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:26:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084559m	[env.py: 870]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:26:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68439439  0.66049262  0.08455925] yaw=-160.1deg	[env.py: 1019]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69282558  0.16573699  0.08455925] yaw=167.9deg	[env.py: 1019]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63432645  0.53209359  0.08455925] yaw=-181.8deg	[env.py: 1019]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:26:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.0ms, total=86.1ms	[env.py: 1075]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.684, 0.660, 0.085)	[env.py: 1079]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg	[env.py: 1082]
+05/10 19:26:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:26:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:26:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:26:31 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:26:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:26:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:26:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:26:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:26:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:26:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.626[m] 92.453[deg]	[grasp_sample.py: 539]
+05/10 19:26:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:26:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:26:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:26:39 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:26:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:26:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:26:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:26:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:26:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:26:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.08s (batch: 3.86s, save: 7.22s)	[pipeline.py: 300]
+05/10 19:26:51 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
+  episode_total: mean=185.70s, total=185.70s, count=1, min=185704.7ms, max=185704.7ms
+  sensor_polling: mean=469.9ms, total=140.97s, count=300, min=403.2ms, max=817.1ms
+  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7222.5ms, max=7222.5ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=14.1ms, max=65.6ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.1ms, max=3859.1ms
+  task_sampling: mean=463.1ms, total=463.1ms, count=1, min=463.1ms, max=463.1ms
+  task_specific_sample: mean=459.8ms, total=459.8ms, count=1, min=459.8ms, max=459.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=386.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:26:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:26:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:26:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:26:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:26:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:26:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:26:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:26:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:26:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004976m	[env.py: 870]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:26:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87568378  0.38910765  0.00497556] yaw=165.7deg	[env.py: 1019]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:26:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90456046  0.27846351  0.00497556] yaw=157.7deg	[env.py: 1019]
+05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85313987  0.88206703  0.00497556] yaw=-161.2deg	[env.py: 1019]
+05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:26:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.6ms, total=190.6ms	[env.py: 1075]
+05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.389, 0.005)	[env.py: 1079]
+05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.7 deg	[env.py: 1082]
+05/10 19:26:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/10 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:26:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:26:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:26:53 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:26:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:26:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:26:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:26:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:26:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.439s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:26:53 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.378[m] 89.031[deg]	[grasp_sample.py: 539]
+05/10 19:26:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:26:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:26:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:26:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:27:23 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:27:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:27:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:27:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:27:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:27:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:27:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:27:49 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:27:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:27:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:28:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:28:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:28:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.88s (batch: 3.81s, save: 8.07s)	[pipeline.py: 300]
+05/10 19:28:02 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.18s:
+  episode_total: mean=164.93s, total=329.86s, count=2, min=142597.9ms, max=187265.4ms
+  sensor_polling: mean=458.1ms, total=254.72s, count=556, min=387.7ms, max=858.6ms
+  physics_step: mean=21.6ms, total=12.02s, count=556, min=16.6ms, max=61.4ms
+  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8066.0ms, max=8066.0ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3810.1ms, max=3810.1ms
+  task_sampling: mean=591.0ms, total=1.18s, count=2, min=445.3ms, max=736.8ms
+  task_specific_sample: mean=587.6ms, total=1.18s, count=2, min=441.2ms, max=733.9ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=413.0us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:28:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:28:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:28:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:28:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:28:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:28:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:28:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074360m	[env.py: 870]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:28:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69299864  0.69619572  0.0743603 ] yaw=-168.6deg	[env.py: 1019]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85618463  0.58282715  0.0743603 ] yaw=-165.9deg	[env.py: 1019]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02230848  0.84498051  0.0743603 ] yaw=-157.9deg	[env.py: 1019]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:28:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms	[env.py: 1075]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.696, 0.074)	[env.py: 1079]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg	[env.py: 1082]
+05/10 19:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:28:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:28:04 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:28:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:28:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:28:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:28:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:28:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.744s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:28:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.592[m] 88.347[deg]	[grasp_sample.py: 539]
+05/10 19:28:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:28:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:28:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:28:16 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:28:38 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:28:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:28:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:28:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:28:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:28:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.02s (batch: 4.24s, save: 11.77s)	[pipeline.py: 300]
+05/10 19:28:55 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.13s:
+  episode_total: mean=191.79s, total=191.79s, count=1, min=191791.2ms, max=191791.2ms
+  sensor_polling: mean=459.0ms, total=137.69s, count=300, min=396.2ms, max=711.9ms
+  save_trajectories: mean=11.77s, total=11.77s, count=1, min=11772.2ms, max=11772.2ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.7ms, max=64.3ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4244.4ms, max=4244.4ms
+  task_sampling: mean=1.13s, total=1.13s, count=1, min=1126.6ms, max=1126.6ms
+  task_specific_sample: mean=1.12s, total=1.12s, count=1, min=1122.0ms, max=1122.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=572.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:28:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:28:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:28:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:28:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:28:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:28:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:28:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034861m	[env.py: 870]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:28:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90620847  1.05989578  0.03486075] yaw=-141.6deg	[env.py: 1019]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98101817  0.15038829  0.03486075] yaw=150.3deg	[env.py: 1019]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89775821  1.08977325  0.03486075] yaw=-146.7deg	[env.py: 1019]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:28:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=219.9ms	[env.py: 1075]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.906, 1.060, 0.035)	[env.py: 1079]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg	[env.py: 1082]
+05/10 19:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:28:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:28:57 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:28:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:28:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:28:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:28:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:28:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:28:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.569[m] 91.002[deg]	[grasp_sample.py: 539]
+05/10 19:29:00 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:29:01 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:29:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:29:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:29:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:29:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:29:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:29:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:29:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:29:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:29:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:29:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095615m	[env.py: 870]
+05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:29:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08661142  1.02150901  0.09561494] yaw=-128.5deg	[env.py: 1019]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02641749  0.82442678  0.09561494] yaw=-153.7deg	[env.py: 1019]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95425569  0.85642442  0.09561494] yaw=-159.0deg	[env.py: 1019]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:29:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.3ms, total=181.4ms	[env.py: 1075]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.087, 1.022, 0.096)	[env.py: 1079]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg	[env.py: 1082]
+05/10 19:29:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/10 19:29:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:29:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:29:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:29:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:29:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:29:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:29:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:29:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:29:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:29:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.980s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:29:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.384[m] 89.580[deg]	[grasp_sample.py: 539]
+05/10 19:29:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:29:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:29:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:29:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:29:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:29:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:29:25 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:29:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:29:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:29:26 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:29:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:29:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:29:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.66s (batch: 3.96s, save: 7.70s)	[pipeline.py: 300]
+05/10 19:29:37 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
+  episode_total: mean=186.45s, total=186.45s, count=1, min=186450.9ms, max=186450.9ms
+  sensor_polling: mean=464.7ms, total=139.42s, count=300, min=395.7ms, max=912.5ms
+  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7704.4ms, max=7704.4ms
+  physics_step: mean=21.5ms, total=6.45s, count=300, min=13.7ms, max=74.6ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.8ms, max=3957.8ms
+  task_sampling: mean=346.5ms, total=346.5ms, count=1, min=346.5ms, max=346.5ms
+  task_specific_sample: mean=342.6ms, total=342.6ms, count=1, min=342.6ms, max=342.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:29:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:29:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:29:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:29:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:29:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:29:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:29:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:29:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093853m	[env.py: 870]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:29:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69162751  0.25086776  0.0938531 ] yaw=155.7deg	[env.py: 1019]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83569178  0.3727052   0.0938531 ] yaw=167.5deg	[env.py: 1019]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87773306  1.01352261  0.0938531 ] yaw=-150.0deg	[env.py: 1019]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:29:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.3ms, total=79.3ms	[env.py: 1075]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.251, 0.094)	[env.py: 1079]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg	[env.py: 1082]
+05/10 19:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:29:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:29:39 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:29:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:29:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:29:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:29:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:29:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:29:40 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.575[m] 87.300[deg]	[grasp_sample.py: 539]
+05/10 19:29:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:29:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:29:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:29:45 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:29:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:29:45 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/10 19:29:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:29:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:29:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:29:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:29:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.39s (batch: 3.74s, save: 7.65s)	[pipeline.py: 300]
+05/10 19:29:57 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.45s:
+  episode_total: mean=184.50s, total=184.50s, count=1, min=184498.4ms, max=184498.4ms
+  sensor_polling: mean=474.6ms, total=140.95s, count=297, min=396.0ms, max=942.0ms
+  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7648.5ms, max=7648.5ms
+  physics_step: mean=24.1ms, total=7.15s, count=297, min=14.4ms, max=71.9ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.4ms, max=3740.4ms
+  task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
+  task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=379.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:29:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:29:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:29:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:29:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:29:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:29:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:29:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:29:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:29:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:29:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044237m	[env.py: 870]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:29:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77728585  1.01553904  0.04423693] yaw=-143.8deg	[env.py: 1019]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74261267 -0.01483249  0.04423693] yaw=161.0deg	[env.py: 1019]
+05/10 19:29:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83681365  0.44966757  0.04423693] yaw=186.0deg	[env.py: 1019]
+05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:29:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms	[env.py: 1075]
+05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.777, 1.016, 0.044)	[env.py: 1079]
+05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.8 deg	[env.py: 1082]
+05/10 19:29:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/10 19:29:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:29:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:29:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:29:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:29:59 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:29:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:29:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:29:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:29:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:30:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:30:01 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.625[m] 83.605[deg]	[grasp_sample.py: 539]
+05/10 19:30:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:30:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:30:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:30:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:30:34 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:30:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:30:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:00 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:31:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:31:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:31:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:31:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:31:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:31:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.53s (batch: 3.86s, save: 7.67s)	[pipeline.py: 300]
+05/10 19:31:12 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s:
+  episode_total: mean=188.95s, total=188.95s, count=1, min=188945.3ms, max=188945.3ms
+  sensor_polling: mean=464.7ms, total=139.42s, count=300, min=397.6ms, max=1042.9ms
+  save_trajectories: mean=7.67s, total=7.67s, count=1, min=7669.6ms, max=7669.6ms
+  physics_step: mean=21.2ms, total=6.37s, count=300, min=13.4ms, max=88.3ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3861.0ms, max=3861.0ms
+  task_sampling: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms
+  task_specific_sample: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=534.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:31:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:31:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:31:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:31:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:31:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:31:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:31:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013435m	[env.py: 870]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:31:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69543388  0.24971224  0.01343544] yaw=164.2deg	[env.py: 1019]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85045167  0.1076041   0.01343544] yaw=166.3deg	[env.py: 1019]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02172415  0.12426163  0.01343544] yaw=158.0deg	[env.py: 1019]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:31:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms	[env.py: 1075]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.250, 0.013)	[env.py: 1079]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg	[env.py: 1082]
+05/10 19:31:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m	[env.py: 1086]
+05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:31:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:31:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:31:14 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:31:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:31:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:31:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:31:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:31:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:31:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:31:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:31:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:31:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:31:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:31:15 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.634[m] 102.781[deg]	[grasp_sample.py: 539]
+05/10 19:31:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:31:15 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.438s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:31:15 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.283[deg]	[grasp_sample.py: 539]
+05/10 19:31:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:31:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:31:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:31:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:17 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 19:31:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:31:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:31:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:31:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:31:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.551s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:31:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.555[deg]	[grasp_sample.py: 539]
+05/10 19:31:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:31:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:31:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:31:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:31:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:31:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:31:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:31:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:31:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:37 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:31:37 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.288[deg]	[grasp_sample.py: 539]
+05/10 19:31:38 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:31:38 WARNING: [Worker 0] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/10 19:31:39 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/10 19:31:39 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/10 19:31:39 INFO: [Worker 0] Worker 0 completed house 1: 8/9 successful episodes	[pipeline.py: 1323]
+05/10 19:31:39 INFO: [Worker 0] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=4293.41s
+  House averages:
+  episode_total: mean=130.65s, total=2351.67s, count=18, min=3119.9ms, max=211143.9ms
+  sensor_polling: mean=459.0ms, total=1723.95s, count=3756, min=381.6ms, max=1019.1ms
+  physics_step: mean=21.9ms, total=82.18s, count=3756, min=11.9ms, max=103.6ms
+  save_trajectories: mean=9.19s, total=73.51s, count=8, min=7841.8ms, max=11772.2ms
+  save_batch_prep: mean=4.11s, total=32.87s, count=8, min=3624.6ms, max=4892.7ms
+  task_sampling: mean=680.4ms, total=12.25s, count=18, min=298.5ms, max=4170.1ms
+  task_specific_sample: mean=476.8ms, total=8.58s, count=18, min=296.2ms, max=1122.0ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
+  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
+  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
+  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
+  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
+  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  scene_randomize: mean=1.9ms, total=35.1ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  mj_forward_sync: mean=464.8us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=17.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 19:31:39 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 19:31:39 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=4293.41s
+  Worker averages:
+  episode_total: mean=130.65s, total=2351.67s, count=18, min=3119.9ms, max=211143.9ms
+  sensor_polling: mean=459.0ms, total=1723.95s, count=3756, min=381.6ms, max=1019.1ms
+  physics_step: mean=21.9ms, total=82.18s, count=3756, min=11.9ms, max=103.6ms
+  save_trajectories: mean=9.19s, total=73.51s, count=8, min=7841.8ms, max=11772.2ms
+  save_batch_prep: mean=4.11s, total=32.87s, count=8, min=3624.6ms, max=4892.7ms
+  task_sampling: mean=680.4ms, total=12.25s, count=18, min=298.5ms, max=4170.1ms
+  task_specific_sample: mean=476.8ms, total=8.58s, count=18, min=296.2ms, max=1122.0ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
+  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
+  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
+  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
+  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
+  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  scene_randomize: mean=1.9ms, total=35.1ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  mj_forward_sync: mean=464.8us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=17.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 19:31:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:42 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 19:31:42 INFO: Success count: 8, Total count: 9	[pipeline.py: 1491]
+05/10 19:31:42 INFO: Success rate: 88.89%	[pipeline.py: 1492]
+05/10 19:31:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:31:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:31:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:31:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:31:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:31:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:31:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:31:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.525s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:31:53 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.852[deg]	[grasp_sample.py: 539]
+05/10 19:31:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:31:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:31:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:31:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:32:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:32:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:32:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:32:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:32:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:32:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 68 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:32:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:32:29 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:32:31 INFO: [Worker 0] Feasibility-checked 68 grasps in 4.927s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:32:31 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.423[deg]	[grasp_sample.py: 539]
+05/10 19:32:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:32:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:32:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:32:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:32:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:32:39 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 19:32:39 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.34s:
+  episode_total: mean=180.50s, total=180.50s, count=1, min=180499.0ms, max=180499.0ms
+  sensor_polling: mean=463.4ms, total=139.02s, count=300, min=389.6ms, max=911.3ms
+  physics_step: mean=20.7ms, total=6.20s, count=300, min=12.8ms, max=63.3ms
+  task_sampling: mean=335.5ms, total=335.5ms, count=1, min=335.5ms, max=335.5ms
+  task_specific_sample: mean=331.6ms, total=331.6ms, count=1, min=331.6ms, max=331.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=900.8us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:32:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:32:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:32:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:32:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:32:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:32:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:32:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063536m	[env.py: 870]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:32:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69273936  0.53399501  0.063536  ] yaw=-169.5deg	[env.py: 1019]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71076361  0.6084154   0.063536  ] yaw=-165.6deg	[env.py: 1019]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8678396   0.32860855  0.063536  ] yaw=169.8deg	[env.py: 1019]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:32:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.0ms, total=79.0ms	[env.py: 1075]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.534, 0.064)	[env.py: 1079]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg	[env.py: 1082]
+05/10 19:32:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m	[env.py: 1086]
+05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:32:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:32:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:32:41 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:32:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:32:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:32:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:32:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:32:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:32:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.535[m] 76.819[deg]	[grasp_sample.py: 539]
+05/10 19:32:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:32:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:32:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:32:50 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:32:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:32:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:32:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:33:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:33:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 10.90s (batch: 3.62s, save: 7.27s)	[pipeline.py: 300]
+05/10 19:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:02 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s:
+  episode_total: mean=183.52s, total=183.52s, count=1, min=183520.6ms, max=183520.6ms
+  sensor_polling: mean=454.2ms, total=136.27s, count=300, min=377.6ms, max=814.2ms
+  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7274.7ms, max=7274.7ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=15.0ms, max=88.5ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.0ms, max=3624.0ms
+  task_sampling: mean=440.2ms, total=440.2ms, count=1, min=440.2ms, max=440.2ms
+  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=387.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:33:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:33:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:33:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:33:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:33:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:33:03 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:33:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:33:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:33:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008178m	[env.py: 870]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:33:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92590871  0.1942485   0.00817809] yaw=149.1deg	[env.py: 1019]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:33:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84026272  1.1045823   0.00817809] yaw=-153.1deg	[env.py: 1019]
+05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:33:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.5ms, total=175.5ms	[env.py: 1075]
+05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.194, 0.008)	[env.py: 1079]
+05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.1 deg	[env.py: 1082]
+05/10 19:33:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/10 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:33:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:33:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:33:04 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:33:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:33:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:33:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:33:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:33:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.446[m] 101.366[deg]	[grasp_sample.py: 539]
+05/10 19:33:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:33:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:33:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:33:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:33:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:33:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:33:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:33:08 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:33:08 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.300[deg]	[grasp_sample.py: 539]
+05/10 19:33:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:33:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:33:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:33:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:33:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:33:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:33:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:33:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:33:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:33:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:42 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:33:42 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.889[deg]	[grasp_sample.py: 539]
+05/10 19:33:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:33:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:33:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:33:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:33:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:33:59 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 19:33:59 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=0.39s:
+  episode_total: mean=165.84s, total=165.84s, count=1, min=165836.7ms, max=165836.7ms
+  sensor_polling: mean=457.3ms, total=137.18s, count=300, min=384.4ms, max=696.3ms
+  physics_step: mean=20.9ms, total=6.28s, count=300, min=12.6ms, max=85.3ms
+  task_sampling: mean=386.8ms, total=386.8ms, count=1, min=386.8ms, max=386.8ms
+  task_specific_sample: mean=382.6ms, total=382.6ms, count=1, min=382.6ms, max=382.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=515.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:34:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:34:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:34:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:34:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:34:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:34:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:34:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:34:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:34:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:34:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:34:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023556m	[env.py: 870]
+05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:34:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:34:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04799081  0.9067216   0.02355592] yaw=-154.7deg	[env.py: 1019]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79250185  0.97044528  0.02355592] yaw=-153.3deg	[env.py: 1019]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94722484  0.48828177  0.02355592] yaw=-168.8deg	[env.py: 1019]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:34:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=379.4ms, total=379.5ms	[env.py: 1075]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.048, 0.907, 0.024)	[env.py: 1079]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg	[env.py: 1082]
+05/10 19:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.780m	[env.py: 1086]
+05/10 19:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:34:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:34:02 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:34:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:34:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:34:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:34:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:34:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.095s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:34:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.337[m] 81.301[deg]	[grasp_sample.py: 539]
+05/10 19:34:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:34:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:34:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:34:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:34:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:34:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:34:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:34:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:03 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:35:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:35:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:35:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:35:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:35:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:35:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.167[deg]	[grasp_sample.py: 539]
+05/10 19:35:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:35:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:35:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:35:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:35:27 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:35:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:35:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:35:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:35:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:35:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:35:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:35:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.04s (batch: 3.53s, save: 9.51s)	[pipeline.py: 300]
+05/10 19:35:41 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.32s:
+  episode_total: mean=180.17s, total=180.17s, count=1, min=180171.6ms, max=180171.6ms
+  sensor_polling: mean=436.4ms, total=130.92s, count=300, min=377.5ms, max=744.7ms
+  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9510.8ms, max=9510.8ms
+  physics_step: mean=20.4ms, total=6.11s, count=300, min=16.6ms, max=45.6ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3532.5ms, max=3532.5ms
+  task_sampling: mean=315.9ms, total=315.9ms, count=1, min=315.9ms, max=315.9ms
+  task_specific_sample: mean=312.2ms, total=312.2ms, count=1, min=312.2ms, max=312.2ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=434.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:35:43 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/10 19:35:43 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/10 19:35:43 INFO: [Worker 0] Worker 0 completed house 1: 10/11 successful episodes	[pipeline.py: 1323]
+05/10 19:35:43 INFO: [Worker 0] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4775.01s
+  House averages:
+  episode_total: mean=144.12s, total=2594.21s, count=18, min=272.4ms, max=206324.2ms
+  sensor_polling: mean=458.6ms, total=1941.19s, count=4233, min=377.5ms, max=992.5ms
+  physics_step: mean=21.6ms, total=91.29s, count=4233, min=12.8ms, max=134.0ms
+  save_trajectories: mean=8.31s, total=83.06s, count=10, min=7399.2ms, max=10401.1ms
+  save_batch_prep: mean=3.95s, total=39.54s, count=10, min=3532.5ms, max=4352.3ms
+  task_sampling: mean=614.6ms, total=10.45s, count=17, min=294.5ms, max=3508.0ms
+  task_specific_sample: mean=418.7ms, total=7.54s, count=18, min=268.4ms, max=768.9ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
+  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
+  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
+  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
+  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
+  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
+  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  scene_randomize: mean=1.8ms, total=32.6ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  mj_forward_sync: mean=432.4us, total=7.8ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=18.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 19:35:43 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 19:35:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4775.01s
+  Worker averages:
+  episode_total: mean=144.12s, total=2594.21s, count=18, min=272.4ms, max=206324.2ms
+  sensor_polling: mean=458.6ms, total=1941.19s, count=4233, min=377.5ms, max=992.5ms
+  physics_step: mean=21.6ms, total=91.29s, count=4233, min=12.8ms, max=134.0ms
+  save_trajectories: mean=8.31s, total=83.06s, count=10, min=7399.2ms, max=10401.1ms
+  save_batch_prep: mean=3.95s, total=39.54s, count=10, min=3532.5ms, max=4352.3ms
+  task_sampling: mean=614.6ms, total=10.45s, count=17, min=294.5ms, max=3508.0ms
+  task_specific_sample: mean=418.7ms, total=7.54s, count=18, min=268.4ms, max=768.9ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
+  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
+  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
+  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
+  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
+  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
+  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  scene_randomize: mean=1.8ms, total=32.6ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  mj_forward_sync: mean=432.4us, total=7.8ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=18.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 19:35:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:45 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 19:35:45 INFO: Success count: 10, Total count: 11	[pipeline.py: 1491]
+05/10 19:35:45 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/10 19:35:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:35:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:35:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:35:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:35:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:35:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:35:55 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.294s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:35:55 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.798[deg]	[grasp_sample.py: 539]
+05/10 19:35:56 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:35:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:35:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:35:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:35:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:35:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:35:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:35:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003173m	[env.py: 870]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:35:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65650312  0.58178795  0.00317297] yaw=-175.8deg	[env.py: 1019]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15908393  1.12544063  0.00317297] yaw=-129.3deg	[env.py: 1019]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94585061  0.73314711  0.00317297] yaw=-152.3deg	[env.py: 1019]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:35:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms	[env.py: 1075]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.657, 0.582, 0.003)	[env.py: 1079]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.8 deg	[env.py: 1082]
+05/10 19:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:35:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:35:57 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:35:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:35:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:35:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:35:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:35:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:35:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.665[m] 100.851[deg]	[grasp_sample.py: 539]
+05/10 19:35:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:35:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:35:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:36:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:36:39 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:36:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:36:39 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/10 19:36:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:36:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:36:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.52s (batch: 3.87s, save: 7.65s)	[pipeline.py: 300]
+05/10 19:36:51 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.63s:
+  episode_total: mean=169.38s, total=169.38s, count=1, min=169382.8ms, max=169382.8ms
+  sensor_polling: mean=429.9ms, total=123.81s, count=288, min=377.8ms, max=664.7ms
+  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7650.4ms, max=7650.4ms
+  physics_step: mean=20.4ms, total=5.88s, count=288, min=16.6ms, max=45.1ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.2ms, max=3872.2ms
+  task_sampling: mean=626.7ms, total=626.7ms, count=1, min=626.7ms, max=626.7ms
+  task_specific_sample: mean=622.9ms, total=622.9ms, count=1, min=622.9ms, max=622.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=575.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:36:52 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/10 19:36:52 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/10 19:36:52 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/10 19:36:52 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4896.26s
+  House averages:
+  episode_total: mean=147.98s, total=2663.60s, count=18, min=3369.0ms, max=212319.3ms
+  sensor_polling: mean=453.8ms, total=1970.84s, count=4343, min=377.8ms, max=1061.9ms
+  save_trajectories: mean=8.96s, total=98.58s, count=11, min=7611.1ms, max=11393.7ms
+  physics_step: mean=21.1ms, total=91.69s, count=4343, min=12.6ms, max=89.4ms
+  save_batch_prep: mean=3.84s, total=42.28s, count=11, min=3571.1ms, max=4077.0ms
+  task_sampling: mean=700.3ms, total=12.61s, count=18, min=331.1ms, max=3676.5ms
+  task_specific_sample: mean=526.6ms, total=9.48s, count=18, min=328.8ms, max=976.5ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
+  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
+  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
+  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
+  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
+  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
+  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  mj_forward_sync: mean=463.9us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  policy_setup: mean=19.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 19:36:52 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 19:36:52 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4896.26s
+  Worker averages:
+  episode_total: mean=147.98s, total=2663.60s, count=18, min=3369.0ms, max=212319.3ms
+  sensor_polling: mean=453.8ms, total=1970.84s, count=4343, min=377.8ms, max=1061.9ms
+  save_trajectories: mean=8.96s, total=98.58s, count=11, min=7611.1ms, max=11393.7ms
+  physics_step: mean=21.1ms, total=91.69s, count=4343, min=12.6ms, max=89.4ms
+  save_batch_prep: mean=3.84s, total=42.28s, count=11, min=3571.1ms, max=4077.0ms
+  task_sampling: mean=700.3ms, total=12.61s, count=18, min=331.1ms, max=3676.5ms
+  task_specific_sample: mean=526.6ms, total=9.48s, count=18, min=328.8ms, max=976.5ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
+  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
+  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
+  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
+  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
+  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
+  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  mj_forward_sync: mean=463.9us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  policy_setup: mean=19.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 19:36:54 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 19:36:54 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/10 19:36:54 INFO: Success rate: 91.67%	[pipeline.py: 1492]
+05/10 19:36:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:37:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:37:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:38:11 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:38:32 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:38:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:38:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:38:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:38:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:38:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.22s (batch: 4.18s, save: 8.04s)	[pipeline.py: 300]
+05/10 19:38:45 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.76s:
+  episode_total: mean=169.87s, total=339.74s, count=2, min=167572.7ms, max=172164.5ms
+  sensor_polling: mean=431.5ms, total=252.85s, count=586, min=366.2ms, max=754.1ms
+  physics_step: mean=20.6ms, total=12.08s, count=586, min=13.5ms, max=72.6ms
+  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8042.9ms, max=8042.9ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4179.0ms, max=4179.0ms
+  task_sampling: mean=381.6ms, total=763.2ms, count=2, min=336.6ms, max=426.5ms
+  task_specific_sample: mean=378.5ms, total=756.9ms, count=2, min=333.7ms, max=423.3ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=380.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:38:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:38:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:38:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:38:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:38:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:38:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:38:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096185m	[env.py: 870]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:38:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94717367  1.00513883  0.09618465] yaw=-137.5deg	[env.py: 1019]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73158962  0.75436254  0.09618465] yaw=-164.5deg	[env.py: 1019]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88830634  0.50885158  0.09618465] yaw=-175.7deg	[env.py: 1019]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:38:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.8ms, total=98.9ms	[env.py: 1075]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.947, 1.005, 0.096)	[env.py: 1079]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg	[env.py: 1082]
+05/10 19:38:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:38:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:38:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:38:46 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:38:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:38:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:38:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:38:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:38:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.093s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:38:50 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.517[m] 93.558[deg]	[grasp_sample.py: 539]
+05/10 19:38:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:38:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:38:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:39:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:39:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:39:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:40:58 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:41:21 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/10 19:41:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:41:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:41:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:41:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006	[save_utils.py: 785]
+05/10 19:41:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.69s (batch: 3.39s, save: 8.29s)	[pipeline.py: 300]
+05/10 19:41:33 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.34s:
+  episode_total: mean=167.50s, total=167.50s, count=1, min=167503.8ms, max=167503.8ms
+  sensor_polling: mean=398.0ms, total=119.40s, count=300, min=350.4ms, max=679.0ms
+  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8292.4ms, max=8292.4ms
+  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.5ms, max=45.7ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3392.6ms, max=3392.6ms
+  task_sampling: mean=337.3ms, total=337.3ms, count=1, min=337.3ms, max=337.3ms
+  task_specific_sample: mean=333.8ms, total=333.8ms, count=1, min=333.8ms, max=333.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=391.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:41:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:41:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:41:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:41:35 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:41:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:41:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:41:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012397m	[env.py: 870]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:41:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6527861   0.23027289  0.01239709] yaw=174.3deg	[env.py: 1019]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:41:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.1ms, total=189.1ms	[env.py: 1075]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.230, 0.012)	[env.py: 1079]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg	[env.py: 1082]
+05/10 19:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:41:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:41:35 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:41:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:41:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:41:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:41:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:41:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:41:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.650[m] 90.020[deg]	[grasp_sample.py: 539]
+05/10 19:41:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:41:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:41:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:42:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:42:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:42:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:43:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:43:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:43:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:43:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:43:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:43:24 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:43:24 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.279[deg]	[grasp_sample.py: 539]
+05/10 19:43:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:43:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:43:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:43:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:43:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:43:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:43:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:44:16 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 19:44:16 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.44s:
+  episode_total: mean=160.96s, total=160.96s, count=1, min=160957.4ms, max=160957.4ms
+  sensor_polling: mean=419.6ms, total=125.88s, count=300, min=360.1ms, max=714.5ms
+  physics_step: mean=20.3ms, total=6.09s, count=300, min=14.9ms, max=43.5ms
+  task_sampling: mean=438.0ms, total=438.0ms, count=1, min=438.0ms, max=438.0ms
+  task_specific_sample: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=489.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:44:18 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/10 19:44:18 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/10 19:44:18 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
+05/10 19:44:18 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5728.14s
+  House averages:
+  episode_total: mean=172.77s, total=3109.79s, count=18, min=126440.7ms, max=192949.6ms
+  sensor_polling: mean=450.8ms, total=2312.07s, count=5129, min=350.4ms, max=962.6ms
+  save_trajectories: mean=8.88s, total=115.50s, count=13, min=7222.5ms, max=12055.5ms
+  physics_step: mean=21.9ms, total=112.23s, count=5129, min=13.2ms, max=97.8ms
+  save_batch_prep: mean=4.05s, total=52.62s, count=13, min=3392.6ms, max=4689.4ms
+  task_sampling: mean=610.5ms, total=10.99s, count=18, min=302.8ms, max=3742.5ms
+  task_specific_sample: mean=431.4ms, total=7.76s, count=18, min=300.4ms, max=664.9ms
+  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
+  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
+  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
+  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
+  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
+  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  scene_randomize: mean=2.1ms, total=38.3ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  mj_forward_sync: mean=673.8us, total=12.1ms, count=18, min=0.4ms, max=4.5ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 19:44:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 19:44:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5728.14s
+  Worker averages:
+  episode_total: mean=172.77s, total=3109.79s, count=18, min=126440.7ms, max=192949.6ms
+  sensor_polling: mean=450.8ms, total=2312.07s, count=5129, min=350.4ms, max=962.6ms
+  save_trajectories: mean=8.88s, total=115.50s, count=13, min=7222.5ms, max=12055.5ms
+  physics_step: mean=21.9ms, total=112.23s, count=5129, min=13.2ms, max=97.8ms
+  save_batch_prep: mean=4.05s, total=52.62s, count=13, min=3392.6ms, max=4689.4ms
+  task_sampling: mean=610.5ms, total=10.99s, count=18, min=302.8ms, max=3742.5ms
+  task_specific_sample: mean=431.4ms, total=7.76s, count=18, min=300.4ms, max=664.9ms
+  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
+  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
+  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
+  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
+  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
+  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  scene_randomize: mean=2.1ms, total=38.3ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  mj_forward_sync: mean=673.8us, total=12.1ms, count=18, min=0.4ms, max=4.5ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 19:44:21 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 19:44:21 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
+05/10 19:44:21 INFO: Success rate: 92.86%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_006/shard_1_of_4.log b/fridge_7/chunk_006/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..ea0240c24f78fbd39e89398a8c3bd2f2691ab1c4
--- /dev/null
+++ b/fridge_7/chunk_006/shard_1_of_4.log
@@ -0,0 +1,1767 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_006
+  shard=1/4  seed=20601  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:52:00 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 18:52:00 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 18:52:00 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_006'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 18:52:00 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7d9b54385b50>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20601,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:52:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 18:52:00 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 18:52:00 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 138106083113744 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 138106083113744 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 138106083113744 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 138106083113744 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 138106087570576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138106087570576 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138106087569808 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138106087569808 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138106087569808 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138106087569808 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138106087570576 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138106087570576 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138106083140688 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138106083140688 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 138106083146576 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138106083146576 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 138106083146576 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 138106083146576 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 138106083140688 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 138106083140688 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 18:52:00 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60c2cd2ddc00 at 0x7d9b548f5fd0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60c2cd2df7c0 at 0x7d9b543f0c90>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60c2cd2df7c0 at 0x7d9b54887090>
+[05/10 18:52:03 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 18:52:03 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 18:52:03 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 18:52:03 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 18:52:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:52:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:52:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:52:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:52:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:52:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
+[05/10 18:52:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:52:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:52:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025898m
+[05/10 18:52:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:52:03 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 18:52:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87032311  0.34133851  0.02589845] yaw=172.0deg
+[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95517067  1.05601714  0.02589845] yaw=-153.9deg
+[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89936375  0.70824251  0.02589845] yaw=-161.8deg
+[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:52:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:52:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=12.6ms, retries=102.1ms, total=114.7ms
+[05/10 18:52:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.870, 0.341, 0.026)
+[05/10 18:52:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg
+[05/10 18:52:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.844m
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:52:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:52:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 18:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 23.957s
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 18:52:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.449s, found feasible grasp: True
+[05/10 18:52:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.380[m] 85.760[deg]
+[05/10 18:52:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:53:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:53:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:53:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:54:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 18:55:06 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:55:06 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 18:55:06 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
+[05/10 18:55:18 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 18:55:18 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:55:18 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.98s (batch: 3.92s, save: 8.06s)
+[05/10 18:55:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.51s:
+  episode_total: mean=198.71s, total=198.71s, count=1, min=198713.7ms, max=198713.7ms
+  sensor_polling: mean=434.3ms, total=128.98s, count=297, min=403.6ms, max=586.0ms
+  save_trajectories: mean=8.06s, total=8.06s, count=1, min=8055.3ms, max=8055.3ms
+  physics_step: mean=20.9ms, total=6.19s, count=297, min=16.6ms, max=32.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3923.9ms, max=3923.9ms
+  task_sampling: mean=3.51s, total=3.51s, count=1, min=3508.0ms, max=3508.0ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
+  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
+  task_specific_sample: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
+  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
+  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
+  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=399.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=37.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:55:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:55:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:55:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:55:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:55:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:55:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:55:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:55:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:55:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:55:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:55:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
+[05/10 18:55:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:55:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:55:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084325m
+[05/10 18:55:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:55:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:55:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:55:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8354344   1.01921969  0.08432512] yaw=-152.4deg
+[05/10 18:55:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:55:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84080846  0.32126557  0.08432512] yaw=160.6deg
+[05/10 18:55:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:55:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.11908877  1.14225974  0.08432512] yaw=-125.1deg
+[05/10 18:55:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:55:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:55:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=64.0ms, total=64.0ms
+[05/10 18:55:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.835, 1.019, 0.084)
+[05/10 18:55:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.4 deg
+[05/10 18:55:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.020m
+[05/10 18:55:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:55:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:55:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:55:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:55:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:55:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 18:55:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
+[05/10 18:55:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:55:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:55:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 18:55:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.439s, found feasible grasp: True
+[05/10 18:55:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.598[m] 90.653[deg]
+[05/10 18:55:23 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:55:25 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:55:25 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:55:25 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:55:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:55:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:55:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:55:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:55:25 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:55:25 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:55:25 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:55:25 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
+[05/10 18:55:25 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:55:25 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:55:25 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.079471m
+[05/10 18:55:25 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:55:25 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:55:25 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:55:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:55:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8747267   0.55102781  0.07947141] yaw=-185.2deg
+[05/10 18:55:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:55:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:55:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 157.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:55:25 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:55:25 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.18252479  1.05443306  0.07947141] yaw=-122.7deg
+[05/10 18:55:25 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:55:25 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:55:25 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.5ms, total=271.6ms
+[05/10 18:55:25 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.875, 0.551, 0.079)
+[05/10 18:55:25 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -185.2 deg
+[05/10 18:55:25 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.830m
+[05/10 18:55:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:55:25 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:55:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:55:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:55:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:55:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 18:55:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
+[05/10 18:55:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:55:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:55:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 18:55:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.388s, found feasible grasp: True
+[05/10 18:55:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.415[m] 93.941[deg]
+[05/10 18:55:26 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:55:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:56:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:56:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:56:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:57:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:58:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:58:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 18:58:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:58:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:58:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:58:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.36s (batch: 4.27s, save: 8.09s)
+[05/10 18:58:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.82s:
+  episode_total: mean=88.03s, total=176.05s, count=2, min=2874.6ms, max=173177.4ms
+  sensor_polling: mean=435.5ms, total=130.66s, count=300, min=393.7ms, max=554.7ms
+  save_trajectories: mean=8.09s, total=8.09s, count=1, min=8089.7ms, max=8089.7ms
+  physics_step: mean=19.4ms, total=5.83s, count=300, min=14.6ms, max=30.2ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4272.1ms, max=4272.1ms
+  task_sampling: mean=408.1ms, total=816.1ms, count=2, min=294.5ms, max=521.6ms
+  task_specific_sample: mean=405.2ms, total=810.4ms, count=2, min=291.4ms, max=519.0ms
+  scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms
+  mj_forward_sync: mean=369.0us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 18:58:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:58:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:58:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:58:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:58:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:58:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:58:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:58:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:58:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:58:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:58:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 18:58:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:58:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:58:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013426m
+[05/10 18:58:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:58:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:58:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:58:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:58:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:58:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:58:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:58:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80040013  0.27768055  0.01342609] yaw=171.6deg
+[05/10 18:58:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:58:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.85404637  0.96154702  0.01342609] yaw=-148.7deg
+[05/10 18:58:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:58:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:58:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.4ms
+[05/10 18:58:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.278, 0.013)
+[05/10 18:58:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.6 deg
+[05/10 18:58:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.925m
+[05/10 18:58:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:58:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:58:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:58:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:58:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:58:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 18:58:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 18:58:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:58:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:58:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 18:58:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.476s, found feasible grasp: True
+[05/10 18:58:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.464[m] 86.651[deg]
+[05/10 18:58:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:58:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:58:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:59:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:59:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:00:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:01:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:01:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 19:01:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:01:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:01:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:01:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.99s (batch: 4.08s, save: 7.91s)
+[05/10 19:01:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.43s:
+  episode_total: mean=193.44s, total=193.44s, count=1, min=193437.6ms, max=193437.6ms
+  sensor_polling: mean=474.9ms, total=142.48s, count=300, min=410.8ms, max=899.4ms
+  save_trajectories: mean=7.91s, total=7.91s, count=1, min=7906.7ms, max=7906.7ms
+  physics_step: mean=23.5ms, total=7.05s, count=300, min=14.1ms, max=74.6ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4083.4ms, max=4083.4ms
+  task_sampling: mean=426.2ms, total=426.2ms, count=1, min=426.2ms, max=426.2ms
+  task_specific_sample: mean=422.6ms, total=422.6ms, count=1, min=422.6ms, max=422.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=382.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:01:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:01:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:01:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
+[05/10 19:01:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:01:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:01:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094251m
+[05/10 19:01:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:01:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:01:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95863266  0.32408908  0.09425061] yaw=159.1deg
+[05/10 19:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82158255  0.95899551  0.09425061] yaw=-162.2deg
+[05/10 19:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95740194  1.07220344  0.09425061] yaw=-136.1deg
+[05/10 19:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:01:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:01:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.8ms, total=121.9ms
+[05/10 19:01:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.324, 0.094)
+[05/10 19:01:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg
+[05/10 19:01:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.760m
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:01:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:01:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 19:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.121s
+[05/10 19:01:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:01:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:01:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/10 19:01:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.567s, found feasible grasp: True
+[05/10 19:01:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.329[m] 88.826[deg]
+[05/10 19:01:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:01:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:01:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:02:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:02:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:02:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:02:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:02:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:02:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:02:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:02:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:03:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:03:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:03:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps
+[05/10 19:03:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.603s, found feasible grasp: True
+[05/10 19:03:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.445[deg]
+[05/10 19:03:05 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:03:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:03:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:03:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:03:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:03:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:03:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:03:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:03:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:03:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:03:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:03:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.043m, effective arm-mount z=0.903m (base_body_z=0.043m, pedestal_h=0.860m)
+[05/10 19:03:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:03:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:03:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043150m
+[05/10 19:03:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:03:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:03:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62709239  0.63318129  0.04315036] yaw=-167.6deg
+[05/10 19:03:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:03:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=504.4ms, total=504.4ms
+[05/10 19:03:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.627, 0.633, 0.043)
+[05/10 19:03:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.6 deg
+[05/10 19:03:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.086m
+[05/10 19:03:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:03:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:03:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:03:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:03:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:03:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 19:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/10 19:03:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:03:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:03:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.229s, found 88 non-colliding grasps
+[05/10 19:03:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.623s, found feasible grasp: True
+[05/10 19:03:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.646[m] 83.299[deg]
+[05/10 19:03:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:04:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:04:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:04:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:05:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:05:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:05:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 19:05:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:06:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:06:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:06:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 14.41s (batch: 4.01s, save: 10.40s)
+[05/10 19:06:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.17s:
+  episode_total: mean=138.44s, total=276.88s, count=2, min=90435.9ms, max=186442.1ms
+  sensor_polling: mean=458.0ms, total=207.47s, count=453, min=379.5ms, max=699.0ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10401.1ms, max=10401.1ms
+  physics_step: mean=21.5ms, total=9.75s, count=453, min=16.0ms, max=55.5ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.9ms, max=4012.9ms
+  task_sampling: mean=586.8ms, total=1.17s, count=2, min=401.4ms, max=772.2ms
+  task_specific_sample: mean=583.3ms, total=1.17s, count=2, min=397.7ms, max=768.9ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=427.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:06:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:06:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.098m, effective arm-mount z=0.958m (base_body_z=0.098m, pedestal_h=0.860m)
+[05/10 19:06:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:06:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:06:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097797m
+[05/10 19:06:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:06:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:06:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16843435  1.08595992  0.09779739] yaw=-132.7deg
+[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94618036  0.86635164  0.09779739] yaw=-150.3deg
+[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94319759  0.73073794  0.09779739] yaw=-160.6deg
+[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:06:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:06:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=349.5ms, total=349.6ms
+[05/10 19:06:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.168, 1.086, 0.098)
+[05/10 19:06:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.7 deg
+[05/10 19:06:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:06:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 19:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 19:06:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:06:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:06:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:06:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True
+[05/10 19:06:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.373[m] 84.295[deg]
+[05/10 19:06:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:06:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:07:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:07:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:08:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:08:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:08:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:08:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:08:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:08:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:08:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:08:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
+[05/10 19:08:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.512s, found feasible grasp: True
+[05/10 19:08:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.108[m] 0.613[deg]
+[05/10 19:08:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:08:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:08:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:08:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:08:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:08:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:08:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:08:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:08:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:08:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:08:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:08:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 19:08:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:08:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:08:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039586m
+[05/10 19:08:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:08:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:08:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 126.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:08:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:08:30 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=263.4ms, total=263.4ms
+[05/10 19:08:30 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 19:08:30 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 19:08:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:08:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:08:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:08:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:08:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:08:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:08:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:08:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:08:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:08:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
+[05/10 19:08:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:08:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:08:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090367m
+[05/10 19:08:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:08:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:08:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:08:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07232484  0.97354684  0.09036695] yaw=-148.3deg
+[05/10 19:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:08:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 121.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04682759  1.01758559  0.09036695] yaw=-131.5deg
+[05/10 19:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:08:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84873829  0.71781361  0.09036695] yaw=-171.3deg
+[05/10 19:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:08:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:08:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.0ms, total=103.0ms
+[05/10 19:08:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.072, 0.974, 0.090)
+[05/10 19:08:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.3 deg
+[05/10 19:08:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.799m
+[05/10 19:08:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:08:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:08:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:08:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:08:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 19:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 19:08:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:08:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:08:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 19:08:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.517s, found feasible grasp: True
+[05/10 19:08:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.359[m] 82.849[deg]
+[05/10 19:08:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:08:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:08:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:09:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:10:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:10:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:11:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:11:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:11:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:11:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:11:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:11:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 76 non-colliding grasps
+[05/10 19:11:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.417s, found feasible grasp: True
+[05/10 19:11:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.411[deg]
+[05/10 19:11:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:11:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:11:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:11:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:11:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:11:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:11:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:11:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:11:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:11:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:11:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:11:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.023m, effective arm-mount z=0.883m (base_body_z=0.023m, pedestal_h=0.860m)
+[05/10 19:11:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:11:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:11:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023199m
+[05/10 19:11:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:11:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:11:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:11:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.89176196  1.06348649  0.02319869] yaw=-147.7deg
+[05/10 19:11:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:11:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79867554  1.04039615  0.02319869] yaw=-141.8deg
+[05/10 19:11:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:11:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87219826  0.3828309   0.02319869] yaw=162.1deg
+[05/10 19:11:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:11:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:11:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.2ms, total=140.3ms
+[05/10 19:11:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.892, 1.063, 0.023)
+[05/10 19:11:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.7 deg
+[05/10 19:11:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
+[05/10 19:11:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:11:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:11:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:11:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:11:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:11:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 19:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 19:11:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:11:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:11:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 19:11:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.476s, found feasible grasp: True
+[05/10 19:11:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.583[m] 81.237[deg]
+[05/10 19:11:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:11:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:11:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:11:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:11:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:11:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:11:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:11:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:11:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:11:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:11:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:11:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
+[05/10 19:11:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:11:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:11:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092021m
+[05/10 19:11:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:11:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:11:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:11:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93446649  1.18028066  0.09202085] yaw=-137.8deg
+[05/10 19:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:11:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77524713  0.39751339  0.09202085] yaw=175.1deg
+[05/10 19:11:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:11:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:11:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.2ms
+[05/10 19:11:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.934, 1.180, 0.092)
+[05/10 19:11:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.8 deg
+[05/10 19:11:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
+[05/10 19:11:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:11:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:11:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:11:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:11:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:11:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 19:11:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 19:11:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:11:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:11:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:11:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.366s, found feasible grasp: True
+[05/10 19:11:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.612[m] 79.747[deg]
+[05/10 19:11:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:11:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:12:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:12:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:13:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:13:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:13:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:13:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:13:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:13:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:13:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:13:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:13:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:13:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.076s, found 76 non-colliding grasps
+[05/10 19:13:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.208s, found feasible grasp: True
+[05/10 19:13:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 1.802[deg]
+[05/10 19:13:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:13:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:13:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:14:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:14:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 19:14:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:14:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:14:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:14:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.28s (batch: 3.56s, save: 7.73s)
+[05/10 19:14:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.74s:
+  episode_total: mean=96.75s, total=483.75s, count=5, min=272.4ms, max=192257.1ms
+  sensor_polling: mean=458.0ms, total=384.26s, count=839, min=386.2ms, max=972.1ms
+  physics_step: mean=21.2ms, total=17.79s, count=839, min=13.7ms, max=68.4ms
+  save_trajectories: mean=7.73s, total=7.73s, count=1, min=7727.6ms, max=7727.6ms
+  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3556.5ms, max=3556.5ms
+  task_specific_sample: mean=398.1ms, total=1.99s, count=5, min=268.4ms, max=600.9ms
+  task_sampling: mean=433.9ms, total=1.74s, count=4, min=330.7ms, max=605.0ms
+  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
+  scene_randomize: mean=1.5ms, total=7.5ms, count=5, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=421.6us, total=2.1ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
+[05/10 19:14:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:14:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:14:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:14:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:14:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:14:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:14:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
+[05/10 19:14:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:14:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:14:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090076m
+[05/10 19:14:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:14:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:14:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:14:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82226069  0.71575217  0.09007552] yaw=-157.6deg
+[05/10 19:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70525732  0.47701535  0.09007552] yaw=190.5deg
+[05/10 19:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:14:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86716768  0.759505    0.09007552] yaw=-167.4deg
+[05/10 19:14:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:14:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:14:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms
+[05/10 19:14:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.716, 0.090)
+[05/10 19:14:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.6 deg
+[05/10 19:14:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.911m
+[05/10 19:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:14:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:14:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:14:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 19:14:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 19:14:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:14:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:14:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:14:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.504s, found feasible grasp: True
+[05/10 19:14:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.481[m] 90.613[deg]
+[05/10 19:14:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:14:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:15:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:15:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:15:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:17:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:17:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:17:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 19:17:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:17:31 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:17:31 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:17:31 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.28s (batch: 3.88s, save: 7.40s)
+[05/10 19:17:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.36s:
+  episode_total: mean=185.68s, total=185.68s, count=1, min=185682.6ms, max=185682.6ms
+  sensor_polling: mean=476.6ms, total=142.98s, count=300, min=403.8ms, max=863.0ms
+  save_trajectories: mean=7.40s, total=7.40s, count=1, min=7399.2ms, max=7399.2ms
+  physics_step: mean=22.2ms, total=6.67s, count=300, min=14.3ms, max=134.0ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3875.7ms, max=3875.7ms
+  task_sampling: mean=356.1ms, total=356.1ms, count=1, min=356.1ms, max=356.1ms
+  task_specific_sample: mean=352.7ms, total=352.7ms, count=1, min=352.7ms, max=352.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=380.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:17:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:17:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:17:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:17:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:17:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:17:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:17:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:17:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:17:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:17:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:17:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
+[05/10 19:17:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:17:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:17:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.057801m
+[05/10 19:17:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:17:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:17:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:17:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:17:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06837964  1.16566132  0.05780111] yaw=-140.0deg
+[05/10 19:17:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:17:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.99678145  1.05440216  0.05780111] yaw=-146.4deg
+[05/10 19:17:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:17:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:17:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=156.0ms, total=156.1ms
+[05/10 19:17:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.068, 1.166, 0.058)
+[05/10 19:17:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -140.0 deg
+[05/10 19:17:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.932m
+[05/10 19:17:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:17:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:17:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:17:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:17:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:17:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 19:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
+[05/10 19:17:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:17:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:17:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 19:17:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.551s, found feasible grasp: True
+[05/10 19:17:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.497[m] 84.734[deg]
+[05/10 19:17:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:17:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:18:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:19:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:19:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:19:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:19:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:19:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:19:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:19:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:19:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:19:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
+[05/10 19:19:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.468s, found feasible grasp: True
+[05/10 19:19:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.124[deg]
+[05/10 19:19:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:19:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:19:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:19:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:19:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:19:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:19:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:19:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:19:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:19:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:19:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:19:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 19:19:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:19:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:19:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055655m
+[05/10 19:19:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:19:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:19:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:19:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85604119  0.29991321  0.05565471] yaw=175.3deg
+[05/10 19:19:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:19:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:19:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:19:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:19:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93877913  1.15611033  0.05565471] yaw=-133.5deg
+[05/10 19:19:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:19:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:19:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=332.9ms, total=332.9ms
+[05/10 19:19:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.856, 0.300, 0.056)
+[05/10 19:19:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg
+[05/10 19:19:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.866m
+[05/10 19:19:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:19:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:19:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:19:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:19:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:19:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 19:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 19:19:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:19:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:19:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 19:19:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.434s, found feasible grasp: True
+[05/10 19:19:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.396[m] 86.617[deg]
+[05/10 19:19:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:20:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:21:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:21:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:21:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:21:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:21:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:21:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:21:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:21:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 78 non-colliding grasps
+[05/10 19:21:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.383s, found feasible grasp: True
+[05/10 19:21:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.918[deg]
+[05/10 19:21:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
+[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:21:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 19:21:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:21:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:21:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps
+[05/10 19:21:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.348s, found feasible grasp: True
+[05/10 19:21:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.901[deg]
+[05/10 19:21:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:22:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:22:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:22:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:23:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:23:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 19:23:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:23:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:23:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:23:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.77s (batch: 4.35s, save: 8.42s)
+[05/10 19:23:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.03s:
+  episode_total: mean=172.75s, total=345.50s, count=2, min=139174.7ms, max=206324.2ms
+  sensor_polling: mean=468.8ms, total=255.04s, count=544, min=381.4ms, max=950.5ms
+  physics_step: mean=23.0ms, total=12.53s, count=544, min=13.9ms, max=87.8ms
+  save_trajectories: mean=8.42s, total=8.42s, count=1, min=8422.4ms, max=8422.4ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4352.3ms, max=4352.3ms
+  task_sampling: mean=515.6ms, total=1.03s, count=2, min=432.1ms, max=599.1ms
+  task_specific_sample: mean=512.2ms, total=1.02s, count=2, min=428.5ms, max=595.9ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=387.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:23:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:23:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:23:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:23:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:23:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:23:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:23:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:23:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:23:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:23:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:23:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
+[05/10 19:23:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:23:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:23:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067721m
+[05/10 19:23:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:23:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:23:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:23:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:23:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:23:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:23:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.64056816  0.73729754  0.06772051] yaw=-157.1deg
+[05/10 19:23:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:23:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:23:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.68970916  0.61275353  0.06772051] yaw=-181.3deg
+[05/10 19:23:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:23:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93497003  0.07258553  0.06772051] yaw=142.8deg
+[05/10 19:23:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:23:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:23:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.3ms, total=134.3ms
+[05/10 19:23:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.737, 0.068)
+[05/10 19:23:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg
+[05/10 19:23:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.092m
+[05/10 19:23:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:23:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:23:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:23:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:23:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:23:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 19:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 19:23:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:23:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:23:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 19:23:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.783s, found feasible grasp: True
+[05/10 19:23:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.638[m] 86.125[deg]
+[05/10 19:23:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:24:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:24:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:25:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:26:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:26:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 19:26:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:26:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:26:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:26:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.82s (batch: 3.97s, save: 7.85s)
+[05/10 19:26:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s:
+  episode_total: mean=187.08s, total=187.08s, count=1, min=187076.0ms, max=187076.0ms
+  sensor_polling: mean=466.5ms, total=139.95s, count=300, min=391.8ms, max=992.5ms
+  save_trajectories: mean=7.85s, total=7.85s, count=1, min=7847.1ms, max=7847.1ms
+  physics_step: mean=22.4ms, total=6.72s, count=300, min=15.0ms, max=87.7ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.1ms, max=3973.1ms
+  task_sampling: mean=403.9ms, total=403.9ms, count=1, min=403.9ms, max=403.9ms
+  task_specific_sample: mean=400.5ms, total=400.5ms, count=1, min=400.5ms, max=400.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=396.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:26:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:26:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:26:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:26:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:26:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:26:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:26:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:26:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:26:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:26:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:26:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 19:26:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:26:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:26:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084559m
+[05/10 19:26:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:26:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:26:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:26:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68439439  0.66049262  0.08455925] yaw=-160.1deg
+[05/10 19:26:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:26:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69282558  0.16573699  0.08455925] yaw=167.9deg
+[05/10 19:26:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:26:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:26:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63432645  0.53209359  0.08455925] yaw=-181.8deg
+[05/10 19:26:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:26:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:26:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.0ms, total=86.1ms
+[05/10 19:26:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.684, 0.660, 0.085)
+[05/10 19:26:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.1 deg
+[05/10 19:26:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.033m
+[05/10 19:26:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:26:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:26:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:26:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:26:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:26:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 19:26:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 19:26:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:26:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:26:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 19:26:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.660s, found feasible grasp: True
+[05/10 19:26:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.626[m] 92.453[deg]
+[05/10 19:26:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:26:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:27:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:27:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:27:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:29:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:29:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:29:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 19:29:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:29:37 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:29:37 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:29:37 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.66s (batch: 3.96s, save: 7.70s)
+[05/10 19:29:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.35s:
+  episode_total: mean=186.45s, total=186.45s, count=1, min=186450.9ms, max=186450.9ms
+  sensor_polling: mean=464.7ms, total=139.42s, count=300, min=395.7ms, max=912.5ms
+  save_trajectories: mean=7.70s, total=7.70s, count=1, min=7704.4ms, max=7704.4ms
+  physics_step: mean=21.5ms, total=6.45s, count=300, min=13.7ms, max=74.6ms
+  save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3957.8ms, max=3957.8ms
+  task_sampling: mean=346.5ms, total=346.5ms, count=1, min=346.5ms, max=346.5ms
+  task_specific_sample: mean=342.6ms, total=342.6ms, count=1, min=342.6ms, max=342.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:29:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:29:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:29:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:29:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:29:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:29:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:29:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:29:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:29:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:29:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:29:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
+[05/10 19:29:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:29:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:29:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093853m
+[05/10 19:29:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:29:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:29:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:29:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69162751  0.25086776  0.0938531 ] yaw=155.7deg
+[05/10 19:29:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:29:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83569178  0.3727052   0.0938531 ] yaw=167.5deg
+[05/10 19:29:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:29:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.87773306  1.01352261  0.0938531 ] yaw=-150.0deg
+[05/10 19:29:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:29:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:29:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.3ms, total=79.3ms
+[05/10 19:29:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.251, 0.094)
+[05/10 19:29:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.7 deg
+[05/10 19:29:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.037m
+[05/10 19:29:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:29:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:29:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:29:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:29:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:29:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 19:29:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 19:29:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:29:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:29:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 19:29:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True
+[05/10 19:29:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.575[m] 87.300[deg]
+[05/10 19:29:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:29:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:29:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:30:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:30:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:30:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:31:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:31:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:31:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:31:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:31:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:31:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:31:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:31:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:31:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:31:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 80 non-colliding grasps
+[05/10 19:31:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.438s, found feasible grasp: True
+[05/10 19:31:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.283[deg]
+[05/10 19:31:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:31:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:31:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:31:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:31:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:31:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:31:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:31:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:31:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:31:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:31:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 19:31:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:31:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:31:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 76 non-colliding grasps
+[05/10 19:31:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.525s, found feasible grasp: True
+[05/10 19:31:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.852[deg]
+[05/10 19:31:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:31:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:32:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:32:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:32:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:32:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:32:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:32:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:32:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 19:32:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:32:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:32:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 68 non-colliding grasps
+[05/10 19:32:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 68 grasps in 4.927s, found feasible grasp: True
+[05/10 19:32:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.034[m] 12.423[deg]
+[05/10 19:32:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:32:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:32:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False
+[05/10 19:32:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=False episode_total=0.34s:
+  episode_total: mean=180.50s, total=180.50s, count=1, min=180499.0ms, max=180499.0ms
+  sensor_polling: mean=463.4ms, total=139.02s, count=300, min=389.6ms, max=911.3ms
+  physics_step: mean=20.7ms, total=6.20s, count=300, min=12.8ms, max=63.3ms
+  task_sampling: mean=335.5ms, total=335.5ms, count=1, min=335.5ms, max=335.5ms
+  task_specific_sample: mean=331.6ms, total=331.6ms, count=1, min=331.6ms, max=331.6ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=900.8us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:32:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:32:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:32:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:32:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:32:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:32:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:32:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:32:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:32:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:32:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:32:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)
+[05/10 19:32:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:32:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:32:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063536m
+[05/10 19:32:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:32:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:32:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:32:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:32:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69273936  0.53399501  0.063536  ] yaw=-169.5deg
+[05/10 19:32:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:32:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71076361  0.6084154   0.063536  ] yaw=-165.6deg
+[05/10 19:32:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:32:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8678396   0.32860855  0.063536  ] yaw=169.8deg
+[05/10 19:32:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:32:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:32:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.0ms, total=79.0ms
+[05/10 19:32:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.534, 0.064)
+[05/10 19:32:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.5 deg
+[05/10 19:32:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.011m
+[05/10 19:32:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:32:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:32:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:32:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:32:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:32:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 19:32:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.042s
+[05/10 19:32:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:32:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:32:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 19:32:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.725s, found feasible grasp: True
+[05/10 19:32:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.535[m] 76.819[deg]
+[05/10 19:32:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:32:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:33:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:33:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:33:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:35:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:35:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:35:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes
+[05/10 19:35:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:35:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:35:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:35:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.04s (batch: 3.53s, save: 9.51s)
+[05/10 19:35:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.32s:
+  episode_total: mean=180.17s, total=180.17s, count=1, min=180171.6ms, max=180171.6ms
+  sensor_polling: mean=436.4ms, total=130.92s, count=300, min=377.5ms, max=744.7ms
+  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9510.8ms, max=9510.8ms
+  physics_step: mean=20.4ms, total=6.11s, count=300, min=16.6ms, max=45.6ms
+  save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3532.5ms, max=3532.5ms
+  task_sampling: mean=315.9ms, total=315.9ms, count=1, min=315.9ms, max=315.9ms
+  task_specific_sample: mean=312.2ms, total=312.2ms, count=1, min=312.2ms, max=312.2ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=434.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:35:43 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
+[05/10 19:35:43 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
+[05/10 19:35:43 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/11 successful episodes
+[05/10 19:35:43 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/11 successful, 11 episodes, total_time=4775.01s
+  House averages:
+  episode_total: mean=144.12s, total=2594.21s, count=18, min=272.4ms, max=206324.2ms
+  sensor_polling: mean=458.6ms, total=1941.19s, count=4233, min=377.5ms, max=992.5ms
+  physics_step: mean=21.6ms, total=91.29s, count=4233, min=12.8ms, max=134.0ms
+  save_trajectories: mean=8.31s, total=83.06s, count=10, min=7399.2ms, max=10401.1ms
+  save_batch_prep: mean=3.95s, total=39.54s, count=10, min=3532.5ms, max=4352.3ms
+  task_sampling: mean=614.6ms, total=10.45s, count=17, min=294.5ms, max=3508.0ms
+  task_specific_sample: mean=418.7ms, total=7.54s, count=18, min=268.4ms, max=768.9ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
+  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
+  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
+  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
+  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
+  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
+  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  scene_randomize: mean=1.8ms, total=32.6ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  mj_forward_sync: mean=432.4us, total=7.8ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=18.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 19:35:43 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 19:35:43 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 11 episodes, total_time=4775.01s
+  Worker averages:
+  episode_total: mean=144.12s, total=2594.21s, count=18, min=272.4ms, max=206324.2ms
+  sensor_polling: mean=458.6ms, total=1941.19s, count=4233, min=377.5ms, max=992.5ms
+  physics_step: mean=21.6ms, total=91.29s, count=4233, min=12.8ms, max=134.0ms
+  save_trajectories: mean=8.31s, total=83.06s, count=10, min=7399.2ms, max=10401.1ms
+  save_batch_prep: mean=3.95s, total=39.54s, count=10, min=3532.5ms, max=4352.3ms
+  task_sampling: mean=614.6ms, total=10.45s, count=17, min=294.5ms, max=3508.0ms
+  task_specific_sample: mean=418.7ms, total=7.54s, count=18, min=268.4ms, max=768.9ms
+  scene_load: mean=3.12s, total=3.12s, count=1, min=3122.3ms, max=3122.3ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1963.3ms, max=1963.3ms
+  scene_compile: mean=1.04s, total=1.04s, count=1, min=1043.8ms, max=1043.8ms
+  compile_mujoco: mean=715.3ms, total=715.3ms, count=1, min=715.3ms, max=715.3ms
+  task_sampling_failed: mean=272.4ms, total=272.4ms, count=1, min=272.4ms, max=272.4ms
+  compile_xml_load: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
+  compile_aux_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  compile_aux_policy_objects: mean=74.3ms, total=74.3ms, count=1, min=74.3ms, max=74.3ms
+  scene_init: mean=59.2ms, total=59.2ms, count=1, min=59.2ms, max=59.2ms
+  scene_asset_install: mean=55.7ms, total=55.7ms, count=1, min=55.7ms, max=55.7ms
+  asset_install_grasps: mean=41.3ms, total=41.3ms, count=1, min=41.3ms, max=41.3ms
+  scene_randomize: mean=1.8ms, total=32.6ms, count=18, min=1.1ms, max=2.8ms
+  asset_install_objects: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms
+  compile_robot_add: mean=9.4ms, total=9.4ms, count=1, min=9.4ms, max=9.4ms
+  mj_forward_sync: mean=432.4us, total=7.8ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=18.7us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 19:35:45 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 19:35:45 INFO pipeline.py:1491] Success count: 10, Total count: 11
+[05/10 19:35:45 INFO pipeline.py:1492] Success rate: 90.91%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_006
+==========================================
diff --git a/fridge_7/chunk_006/shard_2_of_4.log b/fridge_7/chunk_006/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..35e4e009b2353a20f7489945b249c301921ebd2e
--- /dev/null
+++ b/fridge_7/chunk_006/shard_2_of_4.log
@@ -0,0 +1,1786 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_006
+  shard=2/4  seed=20602  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:51:59 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 18:51:59 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 18:51:59 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_006'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 18:51:59 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x73b67c57e110>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20602,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:51:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 18:51:59 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 18:51:59 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 127227603871248 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 127227603871248 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 127227603871248 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 127227603871248 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 127227604050960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 127227604050960 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 127227604049424 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 127227604049424 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 127227604049424 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 127227604049424 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 127227604050960 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 127227604050960 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 127227603944720 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 127227603944720 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 127227603948432 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 127227603948432 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 127227603948432 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 127227603948432 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 127227603944720 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 127227603944720 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 18:51:59 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f057788ca90 at 0x73b67c8f1750>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f05778ba630 at 0x73b67c90f450>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f05778ba630 at 0x73b67c8e7250>
+[05/10 18:52:02 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:52:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 18:52:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:52:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:52:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055615m
+[05/10 18:52:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:52:02 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 18:52:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94246878  0.089583    0.05561463] yaw=159.6deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 93.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92372828  0.43183592  0.05561463] yaw=183.2deg
+[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:52:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9105508   0.05673009  0.05561463] yaw=157.6deg
+[05/10 18:52:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:52:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:52:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=23.1ms, retries=195.6ms, total=218.7ms
+[05/10 18:52:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.090, 0.056)
+[05/10 18:52:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.6 deg
+[05/10 18:52:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.855m
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:52:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:52:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:52:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.111s
+[05/10 18:52:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:52:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:52:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 18:52:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
+[05/10 18:52:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.392[m] 77.575[deg]
+[05/10 18:52:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:53:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:53:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:53:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:54:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:54:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:54:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:54:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:54:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:54:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:54:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:54:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:54:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:54:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 74 non-colliding grasps
+[05/10 18:54:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 74 grasps in 1.269s, found feasible grasp: True
+[05/10 18:54:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.025[m] 2.888[deg]
+[05/10 18:54:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:54:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:54:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:54:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:54:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:54:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:54:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:54:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:54:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:54:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:54:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:54:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 18:54:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:54:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:54:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021496m
+[05/10 18:54:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:54:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:54:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:54:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:54:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80235789  0.17323678  0.02149578] yaw=150.5deg
+[05/10 18:54:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:54:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91774722  1.11084884  0.02149578] yaw=-141.9deg
+[05/10 18:54:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:54:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86021383  0.19889075  0.02149578] yaw=159.6deg
+[05/10 18:54:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:54:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:54:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.2ms, total=79.2ms
+[05/10 18:54:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.173, 0.021)
+[05/10 18:54:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg
+[05/10 18:54:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.951m
+[05/10 18:54:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:54:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:54:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:54:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:54:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:54:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 18:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
+[05/10 18:54:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:54:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:54:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 18:54:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.468s, found feasible grasp: True
+[05/10 18:54:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.512[m] 92.331[deg]
+[05/10 18:54:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:55:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:55:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:56:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:56:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:56:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:56:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:56:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:56:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:56:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:56:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:56:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
+[05/10 18:56:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.396s, found feasible grasp: True
+[05/10 18:56:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.896[deg]
+[05/10 18:56:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:56:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:57:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 18:57:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:57:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 18:57:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:57:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 18:57:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:57:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.98s (batch: 4.18s, save: 7.79s)
+[05/10 18:57:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.05s:
+  episode_total: mean=165.75s, total=331.50s, count=2, min=152229.5ms, max=179268.1ms
+  sensor_polling: mean=434.9ms, total=227.90s, count=524, min=393.8ms, max=706.1ms
+  physics_step: mean=19.9ms, total=10.42s, count=524, min=13.2ms, max=29.4ms
+  save_trajectories: mean=7.79s, total=7.79s, count=1, min=7793.9ms, max=7793.9ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4181.7ms, max=4181.7ms
+  task_sampling: mean=2.02s, total=4.05s, count=2, min=302.8ms, max=3742.5ms
+  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
+  task_specific_sample: mean=440.6ms, total=881.1ms, count=2, min=300.4ms, max=580.8ms
+  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
+  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
+  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
+  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
+  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  scene_randomize: mean=1.5ms, total=2.9ms, count=2, min=1.3ms, max=1.6ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=542.9us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=21.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:57:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:57:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:57:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:57:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:57:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:57:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:57:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:57:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:57:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:57:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:57:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
+[05/10 18:57:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:57:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:57:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008568m
+[05/10 18:57:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:57:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:57:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:57:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91943258  0.48870449  0.00856844] yaw=-179.2deg
+[05/10 18:57:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:57:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85290186  1.0952648   0.00856844] yaw=-155.5deg
+[05/10 18:57:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:57:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:57:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:57:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:57:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93435986  0.48934392  0.00856844] yaw=-176.1deg
+[05/10 18:57:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:57:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:57:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.3ms
+[05/10 18:57:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.489, 0.009)
+[05/10 18:57:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.2 deg
+[05/10 18:57:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.783m
+[05/10 18:57:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:57:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:57:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:57:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:57:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:57:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 18:57:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
+[05/10 18:57:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:57:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:57:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 18:57:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.410s, found feasible grasp: True
+[05/10 18:57:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.353[m] 94.072[deg]
+[05/10 18:57:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:57:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:57:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:58:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:58:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:58:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:00:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:00:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:00:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:00:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
+[05/10 19:00:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:00:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:00:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 16.07s (batch: 4.02s, save: 12.06s)
+[05/10 19:00:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.41s:
+  episode_total: mean=187.37s, total=187.37s, count=1, min=187372.2ms, max=187372.2ms
+  sensor_polling: mean=475.2ms, total=139.25s, count=293, min=400.7ms, max=902.2ms
+  save_trajectories: mean=12.06s, total=12.06s, count=1, min=12055.5ms, max=12055.5ms
+  physics_step: mean=22.1ms, total=6.47s, count=293, min=14.5ms, max=64.1ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4017.2ms, max=4017.2ms
+  task_sampling: mean=406.9ms, total=406.9ms, count=1, min=406.9ms, max=406.9ms
+  task_specific_sample: mean=403.5ms, total=403.5ms, count=1, min=403.5ms, max=403.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=391.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:00:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:00:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:00:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:00:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:00:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:00:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:00:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:00:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:00:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:00:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:00:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 19:00:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:00:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:00:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027710m
+[05/10 19:00:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:00:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:00:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:00:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65948798  0.2565467   0.02770975] yaw=170.3deg
+[05/10 19:00:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:00:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:00:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92026484  0.62559611  0.02770975] yaw=-170.2deg
+[05/10 19:00:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:00:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72016453  0.44481558  0.02770975] yaw=174.3deg
+[05/10 19:00:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:00:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:00:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.2ms, total=77.2ms
+[05/10 19:00:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.257, 0.028)
+[05/10 19:00:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg
+[05/10 19:00:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.067m
+[05/10 19:00:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:00:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:00:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:00:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:00:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:00:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 19:00:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
+[05/10 19:00:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:00:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:00:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 19:00:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.761s, found feasible grasp: True
+[05/10 19:00:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.651[m] 95.882[deg]
+[05/10 19:00:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:01:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:03:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:03:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:03:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:03:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:03:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:03:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:03:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 14.75s (batch: 4.64s, save: 10.11s)
+[05/10 19:03:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.33s:
+  episode_total: mean=184.85s, total=184.85s, count=1, min=184852.2ms, max=184852.2ms
+  sensor_polling: mean=456.6ms, total=136.98s, count=300, min=384.6ms, max=739.9ms
+  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10105.0ms, max=10105.0ms
+  physics_step: mean=22.9ms, total=6.88s, count=300, min=13.5ms, max=78.4ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4643.0ms, max=4643.0ms
+  task_sampling: mean=328.0ms, total=328.0ms, count=1, min=328.0ms, max=328.0ms
+  task_specific_sample: mean=324.2ms, total=324.2ms, count=1, min=324.2ms, max=324.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=484.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:03:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:03:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:03:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:03:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:03:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:03:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:03:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:03:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:03:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:03:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:03:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 19:03:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:03:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:03:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007985m
+[05/10 19:03:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:03:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:03:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:03:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.74347965  0.15783587  0.00798453] yaw=170.2deg
+[05/10 19:03:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:03:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67899164  0.40389617  0.00798453] yaw=185.4deg
+[05/10 19:03:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:03:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0314048   1.06181573  0.00798453] yaw=-145.8deg
+[05/10 19:03:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:03:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:03:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.0ms
+[05/10 19:03:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.158, 0.008)
+[05/10 19:03:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg
+[05/10 19:03:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.012m
+[05/10 19:03:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:03:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:03:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:03:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:03:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:03:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 19:03:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 19:03:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:03:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:03:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/10 19:03:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.516s, found feasible grasp: True
+[05/10 19:03:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.559[m] 82.312[deg]
+[05/10 19:03:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:03:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:03:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:04:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:04:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:04:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:06:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:06:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:06:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:06:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:06:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:06:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:06:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.58s (batch: 4.65s, save: 8.92s)
+[05/10 19:06:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
+  episode_total: mean=185.12s, total=185.12s, count=1, min=185123.4ms, max=185123.4ms
+  sensor_polling: mean=457.2ms, total=137.15s, count=300, min=376.7ms, max=747.5ms
+  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8924.7ms, max=8924.7ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=14.0ms, max=56.4ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4651.5ms, max=4651.5ms
+  task_sampling: mean=416.9ms, total=416.9ms, count=1, min=416.9ms, max=416.9ms
+  task_specific_sample: mean=412.8ms, total=412.8ms, count=1, min=412.8ms, max=412.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:06:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:06:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:06:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:06:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:06:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:06:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:06:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 19:06:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:06:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:06:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074251m
+[05/10 19:06:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:06:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:06:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89610773  0.43011314  0.07425114] yaw=182.1deg
+[05/10 19:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68564026  0.28016863  0.07425114] yaw=161.6deg
+[05/10 19:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76316685 -0.02901475  0.07425114] yaw=156.1deg
+[05/10 19:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:06:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:06:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.8ms, total=141.8ms
+[05/10 19:06:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.430, 0.074)
+[05/10 19:06:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 182.1 deg
+[05/10 19:06:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.808m
+[05/10 19:06:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:06:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 19:06:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 19:06:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:06:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:06:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 19:06:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.452s, found feasible grasp: True
+[05/10 19:06:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.406[m] 103.346[deg]
+[05/10 19:06:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:06:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:06:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:07:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:07:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:09:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:09:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:09:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:09:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:10:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:10:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:10:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 15.95s (batch: 4.69s, save: 11.26s)
+[05/10 19:10:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.40s:
+  episode_total: mean=188.05s, total=188.05s, count=1, min=188049.3ms, max=188049.3ms
+  sensor_polling: mean=458.9ms, total=137.66s, count=300, min=382.3ms, max=849.7ms
+  save_trajectories: mean=11.26s, total=11.26s, count=1, min=11261.4ms, max=11261.4ms
+  physics_step: mean=23.2ms, total=6.97s, count=300, min=13.7ms, max=74.2ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4689.4ms, max=4689.4ms
+  task_sampling: mean=395.5ms, total=395.5ms, count=1, min=395.5ms, max=395.5ms
+  task_specific_sample: mean=391.4ms, total=391.4ms, count=1, min=391.4ms, max=391.4ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=522.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:10:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:10:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:10:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:10:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:10:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:10:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:10:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:10:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:10:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:10:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:10:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 19:10:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:10:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:10:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034861m
+[05/10 19:10:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:10:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:10:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:10:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93175871  0.6391646   0.03486101] yaw=-158.4deg
+[05/10 19:10:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:10:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85008075  0.09837553  0.03486101] yaw=144.6deg
+[05/10 19:10:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:10:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:10:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99360456  0.90140209  0.03486101] yaw=-149.2deg
+[05/10 19:10:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:10:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:10:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.0ms, total=92.0ms
+[05/10 19:10:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.639, 0.035)
+[05/10 19:10:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg
+[05/10 19:10:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/10 19:10:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:10:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:10:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:10:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:10:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:10:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 19:10:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 19:10:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:10:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:10:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 19:10:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True
+[05/10 19:10:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.302[m] 76.391[deg]
+[05/10 19:10:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:10:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:10:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:10:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:12:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:12:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:12:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:12:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 281 timesteps
+[05/10 19:12:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:12:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:12:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.03s (batch: 3.71s, save: 8.32s)
+[05/10 19:13:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.39s:
+  episode_total: mean=174.04s, total=174.04s, count=1, min=174038.7ms, max=174038.7ms
+  sensor_polling: mean=465.3ms, total=130.29s, count=280, min=403.9ms, max=811.7ms
+  save_trajectories: mean=8.32s, total=8.32s, count=1, min=8321.5ms, max=8321.5ms
+  physics_step: mean=21.6ms, total=6.06s, count=280, min=13.4ms, max=50.3ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3705.5ms, max=3705.5ms
+  task_sampling: mean=388.8ms, total=388.8ms, count=1, min=388.8ms, max=388.8ms
+  task_specific_sample: mean=385.7ms, total=385.7ms, count=1, min=385.7ms, max=385.7ms
+  scene_randomize: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=377.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:13:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:13:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:13:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:13:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:13:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:13:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:13:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:13:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:13:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:13:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:13:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 19:13:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:13:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:13:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087099m
+[05/10 19:13:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:13:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:13:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:13:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:13:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87930123  0.16866367  0.087099  ] yaw=169.8deg
+[05/10 19:13:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:13:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77818913  0.68164191  0.087099  ] yaw=-158.8deg
+[05/10 19:13:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:13:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:13:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:13:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73513428  0.83167668  0.087099  ] yaw=-152.3deg
+[05/10 19:13:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:13:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:13:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.7ms, total=194.8ms
+[05/10 19:13:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.879, 0.169, 0.087)
+[05/10 19:13:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
+[05/10 19:13:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.881m
+[05/10 19:13:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:13:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:13:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:13:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:13:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:13:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 19:13:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.114s
+[05/10 19:13:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:13:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:13:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.090s, found 88 non-colliding grasps
+[05/10 19:13:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.271s, found feasible grasp: True
+[05/10 19:13:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.437[m] 87.577[deg]
+[05/10 19:13:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:13:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:13:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:13:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:13:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:14:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:14:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:14:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:14:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:14:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:14:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:14:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:15:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:15:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:15:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:15:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:15:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps
+[05/10 19:15:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.803s, found feasible grasp: True
+[05/10 19:15:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.683[deg]
+[05/10 19:15:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:15:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:15:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:15:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:15:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:15:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:15:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:15:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:15:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:15:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:15:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:15:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 19:15:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:15:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:15:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013906m
+[05/10 19:15:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:15:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:15:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:15:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:15:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:15:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79111073  0.41280059  0.01390552] yaw=179.5deg
+[05/10 19:15:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:15:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.05063276  1.00761634  0.01390552] yaw=-135.5deg
+[05/10 19:15:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:15:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:15:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6477955   0.41617399  0.01390552] yaw=178.4deg
+[05/10 19:15:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:15:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:15:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=338.2ms, total=338.2ms
+[05/10 19:15:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.413, 0.014)
+[05/10 19:15:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.5 deg
+[05/10 19:15:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.914m
+[05/10 19:15:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:15:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:15:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:15:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:15:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:15:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 19:15:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 19:15:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:15:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:15:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/10 19:15:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.512s, found feasible grasp: True
+[05/10 19:15:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.482[m] 95.894[deg]
+[05/10 19:15:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:15:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:15:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:16:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:16:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:16:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:17:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:18:01 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:18:01 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:18:01 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:18:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:18:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:18:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 15.24s (batch: 3.92s, save: 11.32s)
+[05/10 19:18:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.06s:
+  episode_total: mean=157.01s, total=314.03s, count=2, min=126440.7ms, max=187587.7ms
+  sensor_polling: mean=460.0ms, total=239.18s, count=520, min=380.0ms, max=803.1ms
+  physics_step: mean=22.9ms, total=11.90s, count=520, min=14.0ms, max=97.8ms
+  save_trajectories: mean=11.32s, total=11.32s, count=1, min=11320.5ms, max=11320.5ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.0ms, max=3920.0ms
+  task_sampling: mean=531.1ms, total=1.06s, count=2, min=458.1ms, max=604.0ms
+  task_specific_sample: mean=525.5ms, total=1.05s, count=2, min=450.4ms, max=600.6ms
+  mj_forward_sync: mean=2.5ms, total=5.0ms, count=2, min=0.5ms, max=4.5ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.6ms, max=2.4ms
+  policy_setup: mean=19.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:18:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:18:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:18:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:18:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:18:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:18:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:18:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:18:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:18:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:18:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:18:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 19:18:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:18:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:18:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061247m
+[05/10 19:18:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:18:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:18:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13202517  1.19086047  0.06124704] yaw=-130.4deg
+[05/10 19:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:18:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:18:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87770832  1.00261835  0.06124704] yaw=-143.0deg
+[05/10 19:18:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:18:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:18:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=364.7ms, total=364.7ms
+[05/10 19:18:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.132, 1.191, 0.061)
+[05/10 19:18:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.4 deg
+[05/10 19:18:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.910m
+[05/10 19:18:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:18:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:18:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:18:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:18:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:18:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 19:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
+[05/10 19:18:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:18:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:18:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 19:18:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.786s, found feasible grasp: True
+[05/10 19:18:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.469[m] 80.068[deg]
+[05/10 19:18:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:18:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:19:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:19:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:19:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:20:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:20:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:20:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:20:27 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:20:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:20:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:20:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:20:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
+[05/10 19:20:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.420s, found feasible grasp: True
+[05/10 19:20:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.105[m] 0.653[deg]
+[05/10 19:20:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:20:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:20:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:20:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:20:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:20:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:20:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:20:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:20:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
+[05/10 19:20:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:20:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:20:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093094m
+[05/10 19:20:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:20:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:20:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:20:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62344828  0.3867221   0.09309448] yaw=180.5deg
+[05/10 19:20:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:20:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:20:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88076545  0.39731517  0.09309448] yaw=168.0deg
+[05/10 19:20:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:20:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:20:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.6ms, total=149.6ms
+[05/10 19:20:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.623, 0.387, 0.093)
+[05/10 19:20:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.5 deg
+[05/10 19:20:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
+[05/10 19:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:20:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:20:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:20:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 19:20:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 19:20:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:20:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:20:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 19:20:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True
+[05/10 19:20:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.615[m] 83.644[deg]
+[05/10 19:20:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:21:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:21:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:21:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:21:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:21:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:21:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:21:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:21:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:23:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:23:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:23:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:23:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:23:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:23:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:23:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.24s (batch: 4.01s, save: 7.23s)
+[05/10 19:23:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.06s:
+  episode_total: mean=161.45s, total=322.91s, count=2, min=129955.9ms, max=192949.6ms
+  sensor_polling: mean=467.6ms, total=247.34s, count=529, min=393.1ms, max=962.6ms
+  physics_step: mean=22.8ms, total=12.08s, count=529, min=14.0ms, max=66.7ms
+  save_trajectories: mean=7.23s, total=7.23s, count=1, min=7231.4ms, max=7231.4ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.8ms, max=4012.8ms
+  task_sampling: mean=529.2ms, total=1.06s, count=2, min=389.2ms, max=669.3ms
+  task_specific_sample: mean=525.3ms, total=1.05s, count=2, min=385.7ms, max=664.9ms
+  scene_randomize: mean=2.3ms, total=4.7ms, count=2, min=1.8ms, max=2.9ms
+  mj_forward_sync: mean=485.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:23:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:23:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:23:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:23:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:23:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:23:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:23:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:23:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 19:23:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:23:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:23:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078231m
+[05/10 19:23:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:23:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:23:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:23:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:23:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.68642908  0.25178267  0.07823135] yaw=165.8deg
+[05/10 19:23:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:23:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:23:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=202.6ms, total=202.7ms
+[05/10 19:23:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.686, 0.252, 0.078)
+[05/10 19:23:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.8 deg
+[05/10 19:23:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.042m
+[05/10 19:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:23:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:23:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:23:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 19:23:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 19:23:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:23:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:23:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 19:23:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.637s, found feasible grasp: True
+[05/10 19:23:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.582[m] 83.747[deg]
+[05/10 19:23:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:24:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:24:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:26:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:26:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:26:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:26:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:26:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:26:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:26:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.08s (batch: 3.86s, save: 7.22s)
+[05/10 19:26:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.46s:
+  episode_total: mean=185.70s, total=185.70s, count=1, min=185704.7ms, max=185704.7ms
+  sensor_polling: mean=469.9ms, total=140.97s, count=300, min=403.2ms, max=817.1ms
+  save_trajectories: mean=7.22s, total=7.22s, count=1, min=7222.5ms, max=7222.5ms
+  physics_step: mean=23.7ms, total=7.10s, count=300, min=14.1ms, max=65.6ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.1ms, max=3859.1ms
+  task_sampling: mean=463.1ms, total=463.1ms, count=1, min=463.1ms, max=463.1ms
+  task_specific_sample: mean=459.8ms, total=459.8ms, count=1, min=459.8ms, max=459.8ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=386.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:26:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:26:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:26:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:26:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:26:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:26:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:26:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:26:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:26:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:26:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:26:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
+[05/10 19:26:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:26:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:26:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004976m
+[05/10 19:26:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:26:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:26:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:26:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87568378  0.38910765  0.00497556] yaw=165.7deg
+[05/10 19:26:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:26:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90456046  0.27846351  0.00497556] yaw=157.7deg
+[05/10 19:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:26:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85313987  0.88206703  0.00497556] yaw=-161.2deg
+[05/10 19:26:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:26:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:26:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.6ms, total=190.6ms
+[05/10 19:26:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.389, 0.005)
+[05/10 19:26:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.7 deg
+[05/10 19:26:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.832m
+[05/10 19:26:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:26:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:26:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:26:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:26:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 19:26:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 19:26:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:26:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:26:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 19:26:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.439s, found feasible grasp: True
+[05/10 19:26:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.378[m] 89.031[deg]
+[05/10 19:26:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:26:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:26:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:27:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:27:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:29:26 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:29:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:29:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:29:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
+[05/10 19:29:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:29:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:29:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.39s (batch: 3.74s, save: 7.65s)
+[05/10 19:29:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.45s:
+  episode_total: mean=184.50s, total=184.50s, count=1, min=184498.4ms, max=184498.4ms
+  sensor_polling: mean=474.6ms, total=140.95s, count=297, min=396.0ms, max=942.0ms
+  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7648.5ms, max=7648.5ms
+  physics_step: mean=24.1ms, total=7.15s, count=297, min=14.4ms, max=71.9ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3740.4ms, max=3740.4ms
+  task_sampling: mean=446.0ms, total=446.0ms, count=1, min=446.0ms, max=446.0ms
+  task_specific_sample: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=379.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:29:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:29:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:29:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:29:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:29:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:29:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:29:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:29:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:29:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:29:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:29:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 19:29:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:29:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:29:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044237m
+[05/10 19:29:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:29:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:29:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:29:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77728585  1.01553904  0.04423693] yaw=-143.8deg
+[05/10 19:29:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:29:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74261267 -0.01483249  0.04423693] yaw=161.0deg
+[05/10 19:29:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:29:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83681365  0.44966757  0.04423693] yaw=186.0deg
+[05/10 19:29:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:29:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:29:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms
+[05/10 19:29:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.777, 1.016, 0.044)
+[05/10 19:29:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.8 deg
+[05/10 19:29:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.068m
+[05/10 19:29:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:29:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:29:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:29:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:29:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:29:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 19:29:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 19:29:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:29:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:29:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 19:30:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.480s, found feasible grasp: True
+[05/10 19:30:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.625[m] 83.605[deg]
+[05/10 19:30:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:30:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:30:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:31:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:31:10 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:31:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:31:17 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 19:31:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:31:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:31:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:31:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 78 non-colliding grasps
+[05/10 19:31:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.551s, found feasible grasp: True
+[05/10 19:31:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.555[deg]
+[05/10 19:31:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:31:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:31:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:31:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:32:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:32:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:32:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:32:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:33:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:33:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:33:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 10.90s (batch: 3.62s, save: 7.27s)
+[05/10 19:33:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.44s:
+  episode_total: mean=183.52s, total=183.52s, count=1, min=183520.6ms, max=183520.6ms
+  sensor_polling: mean=454.2ms, total=136.27s, count=300, min=377.6ms, max=814.2ms
+  save_trajectories: mean=7.27s, total=7.27s, count=1, min=7274.7ms, max=7274.7ms
+  physics_step: mean=21.6ms, total=6.47s, count=300, min=15.0ms, max=88.5ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.0ms, max=3624.0ms
+  task_sampling: mean=440.2ms, total=440.2ms, count=1, min=440.2ms, max=440.2ms
+  task_specific_sample: mean=436.9ms, total=436.9ms, count=1, min=436.9ms, max=436.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=387.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:33:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:33:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:33:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:33:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:33:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:33:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:33:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:33:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:33:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:33:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:33:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 19:33:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:33:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:33:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008178m
+[05/10 19:33:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:33:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:33:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:33:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92590871  0.1942485   0.00817809] yaw=149.1deg
+[05/10 19:33:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 156.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:33:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:33:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:33:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.84026272  1.1045823   0.00817809] yaw=-153.1deg
+[05/10 19:33:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:33:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:33:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=175.5ms, total=175.5ms
+[05/10 19:33:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.194, 0.008)
+[05/10 19:33:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.1 deg
+[05/10 19:33:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.828m
+[05/10 19:33:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:33:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:33:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:33:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:33:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 19:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 19:33:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:33:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:33:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:33:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
+[05/10 19:33:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.446[m] 101.366[deg]
+[05/10 19:33:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:33:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:33:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:34:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:34:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:35:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:35:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:35:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:35:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:35:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:35:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:35:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:35:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:35:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
+[05/10 19:35:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.423s, found feasible grasp: True
+[05/10 19:35:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.167[deg]
+[05/10 19:35:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:35:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:35:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:35:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:35:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:35:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:35:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:35:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:35:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:35:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:35:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:35:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:35:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:35:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:35:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:35:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:35:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:35:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 19:35:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:35:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:35:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 76 non-colliding grasps
+[05/10 19:35:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.294s, found feasible grasp: True
+[05/10 19:35:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.798[deg]
+[05/10 19:35:56 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:35:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:35:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:35:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:35:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:35:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:35:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:35:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:35:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:35:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:35:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:35:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
+[05/10 19:35:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:35:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:35:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003173m
+[05/10 19:35:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:35:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:35:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:35:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65650312  0.58178795  0.00317297] yaw=-175.8deg
+[05/10 19:35:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:35:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:35:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:35:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:35:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15908393  1.12544063  0.00317297] yaw=-129.3deg
+[05/10 19:35:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:35:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94585061  0.73314711  0.00317297] yaw=-152.3deg
+[05/10 19:35:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:35:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:35:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms
+[05/10 19:35:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.657, 0.582, 0.003)
+[05/10 19:35:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.8 deg
+[05/10 19:35:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.051m
+[05/10 19:35:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:35:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:35:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:35:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:35:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:35:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 19:35:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 19:35:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:35:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:35:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:35:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.718s, found feasible grasp: True
+[05/10 19:35:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.665[m] 100.851[deg]
+[05/10 19:35:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:35:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:35:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:36:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:37:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:37:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:38:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:38:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:38:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:38:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:38:44 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:38:44 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:38:44 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.22s (batch: 4.18s, save: 8.04s)
+[05/10 19:38:45 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.76s:
+  episode_total: mean=169.87s, total=339.74s, count=2, min=167572.7ms, max=172164.5ms
+  sensor_polling: mean=431.5ms, total=252.85s, count=586, min=366.2ms, max=754.1ms
+  physics_step: mean=20.6ms, total=12.08s, count=586, min=13.5ms, max=72.6ms
+  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8042.9ms, max=8042.9ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4179.0ms, max=4179.0ms
+  task_sampling: mean=381.6ms, total=763.2ms, count=2, min=336.6ms, max=426.5ms
+  task_specific_sample: mean=378.5ms, total=756.9ms, count=2, min=333.7ms, max=423.3ms
+  scene_randomize: mean=1.7ms, total=3.4ms, count=2, min=1.2ms, max=2.2ms
+  mj_forward_sync: mean=380.9us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:38:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:38:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:38:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:38:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:38:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:38:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:38:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:38:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:38:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:38:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:38:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
+[05/10 19:38:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:38:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:38:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096185m
+[05/10 19:38:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:38:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:38:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:38:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:38:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:38:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:38:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94717367  1.00513883  0.09618465] yaw=-137.5deg
+[05/10 19:38:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:38:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73158962  0.75436254  0.09618465] yaw=-164.5deg
+[05/10 19:38:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:38:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88830634  0.50885158  0.09618465] yaw=-175.7deg
+[05/10 19:38:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:38:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:38:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.8ms, total=98.9ms
+[05/10 19:38:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.947, 1.005, 0.096)
+[05/10 19:38:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.5 deg
+[05/10 19:38:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.919m
+[05/10 19:38:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:38:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:38:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:38:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:38:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:38:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 19:38:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 19:38:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:38:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:38:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 19:38:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.093s, found feasible grasp: True
+[05/10 19:38:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.517[m] 93.558[deg]
+[05/10 19:38:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:38:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:39:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:39:41 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:39:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:40:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:41:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:41:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes
+[05/10 19:41:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:41:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:41:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:41:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.69s (batch: 3.39s, save: 8.29s)
+[05/10 19:41:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.34s:
+  episode_total: mean=167.50s, total=167.50s, count=1, min=167503.8ms, max=167503.8ms
+  sensor_polling: mean=398.0ms, total=119.40s, count=300, min=350.4ms, max=679.0ms
+  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8292.4ms, max=8292.4ms
+  physics_step: mean=19.7ms, total=5.92s, count=300, min=13.5ms, max=45.7ms
+  save_batch_prep: mean=3.39s, total=3.39s, count=1, min=3392.6ms, max=3392.6ms
+  task_sampling: mean=337.3ms, total=337.3ms, count=1, min=337.3ms, max=337.3ms
+  task_specific_sample: mean=333.8ms, total=333.8ms, count=1, min=333.8ms, max=333.8ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=391.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:41:35 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:41:35 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:41:35 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:41:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:41:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:41:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:41:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:41:35 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:41:35 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:41:35 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:41:35 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 19:41:35 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:41:35 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:41:35 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012397m
+[05/10 19:41:35 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:41:35 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:41:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 94.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:41:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:41:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.6527861   0.23027289  0.01239709] yaw=174.3deg
+[05/10 19:41:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:41:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:41:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=189.1ms, total=189.1ms
+[05/10 19:41:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.653, 0.230, 0.012)
+[05/10 19:41:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg
+[05/10 19:41:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.079m
+[05/10 19:41:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:41:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:41:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:41:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:41:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:41:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 19:41:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 19:41:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:41:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:41:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:41:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.058s, found feasible grasp: True
+[05/10 19:41:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.650[m] 90.020[deg]
+[05/10 19:41:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:42:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:42:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:42:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:43:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:43:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:43:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:43:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:43:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:43:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:43:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:43:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:43:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
+[05/10 19:43:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.449s, found feasible grasp: True
+[05/10 19:43:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.033[m] 0.279[deg]
+[05/10 19:43:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:43:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:43:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:43:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:43:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:43:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:43:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:43:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:43:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:44:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False
+[05/10 19:44:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=False episode_total=0.44s:
+  episode_total: mean=160.96s, total=160.96s, count=1, min=160957.4ms, max=160957.4ms
+  sensor_polling: mean=419.6ms, total=125.88s, count=300, min=360.1ms, max=714.5ms
+  physics_step: mean=20.3ms, total=6.09s, count=300, min=14.9ms, max=43.5ms
+  task_sampling: mean=438.0ms, total=438.0ms, count=1, min=438.0ms, max=438.0ms
+  task_specific_sample: mean=434.5ms, total=434.5ms, count=1, min=434.5ms, max=434.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=489.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:44:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
+[05/10 19:44:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
+[05/10 19:44:18 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/14 successful episodes
+[05/10 19:44:18 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5728.14s
+  House averages:
+  episode_total: mean=172.77s, total=3109.79s, count=18, min=126440.7ms, max=192949.6ms
+  sensor_polling: mean=450.8ms, total=2312.07s, count=5129, min=350.4ms, max=962.6ms
+  save_trajectories: mean=8.88s, total=115.50s, count=13, min=7222.5ms, max=12055.5ms
+  physics_step: mean=21.9ms, total=112.23s, count=5129, min=13.2ms, max=97.8ms
+  save_batch_prep: mean=4.05s, total=52.62s, count=13, min=3392.6ms, max=4689.4ms
+  task_sampling: mean=610.5ms, total=10.99s, count=18, min=302.8ms, max=3742.5ms
+  task_specific_sample: mean=431.4ms, total=7.76s, count=18, min=300.4ms, max=664.9ms
+  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
+  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
+  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
+  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
+  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
+  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  scene_randomize: mean=2.1ms, total=38.3ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  mj_forward_sync: mean=673.8us, total=12.1ms, count=18, min=0.4ms, max=4.5ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 19:44:18 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 19:44:18 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5728.14s
+  Worker averages:
+  episode_total: mean=172.77s, total=3109.79s, count=18, min=126440.7ms, max=192949.6ms
+  sensor_polling: mean=450.8ms, total=2312.07s, count=5129, min=350.4ms, max=962.6ms
+  save_trajectories: mean=8.88s, total=115.50s, count=13, min=7222.5ms, max=12055.5ms
+  physics_step: mean=21.9ms, total=112.23s, count=5129, min=13.2ms, max=97.8ms
+  save_batch_prep: mean=4.05s, total=52.62s, count=13, min=3392.6ms, max=4689.4ms
+  task_sampling: mean=610.5ms, total=10.99s, count=18, min=302.8ms, max=3742.5ms
+  task_specific_sample: mean=431.4ms, total=7.76s, count=18, min=300.4ms, max=664.9ms
+  scene_load: mean=3.16s, total=3.16s, count=1, min=3158.3ms, max=3158.3ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.0ms, max=2255.0ms
+  scene_compile: mean=754.8ms, total=754.8ms, count=1, min=754.8ms, max=754.8ms
+  compile_mujoco: mean=567.3ms, total=567.3ms, count=1, min=567.3ms, max=567.3ms
+  compile_xml_load: mean=130.9ms, total=130.9ms, count=1, min=130.9ms, max=130.9ms
+  scene_init: mean=108.9ms, total=108.9ms, count=1, min=108.9ms, max=108.9ms
+  compile_aux_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  compile_aux_policy_objects: mean=41.9ms, total=41.9ms, count=1, min=41.9ms, max=41.9ms
+  scene_asset_install: mean=39.3ms, total=39.3ms, count=1, min=39.3ms, max=39.3ms
+  scene_randomize: mean=2.1ms, total=38.3ms, count=18, min=1.2ms, max=2.9ms
+  asset_install_grasps: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms
+  mj_forward_sync: mean=673.8us, total=12.1ms, count=18, min=0.4ms, max=4.5ms
+  asset_install_objects: mean=8.6ms, total=8.6ms, count=1, min=8.6ms, max=8.6ms
+  compile_robot_add: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=18.8us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 19:44:21 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 19:44:21 INFO pipeline.py:1491] Success count: 13, Total count: 14
+[05/10 19:44:21 INFO pipeline.py:1492] Success rate: 92.86%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_006
+==========================================
diff --git a/fridge_7/chunk_006/shard_3_of_4.log b/fridge_7/chunk_006/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..320ee42fc30bf52feb4e43dc01b7a42a895b5150
--- /dev/null
+++ b/fridge_7/chunk_006/shard_3_of_4.log
@@ -0,0 +1,1726 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_006
+  shard=3/4  seed=20603  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:51:58 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 18:51:58 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 18:51:58 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_006'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 18:51:58 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7540bf3a7f10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20603,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:51:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 18:51:58 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 18:51:58 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 128920941646480 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 128920941646480 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 128920941646480 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 128920941646480 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 128920942631504 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128920942631504 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128920942631312 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128920942631312 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128920942631312 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128920942631312 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128920942631504 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128920942631504 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128920941683536 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128920941683536 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 128920941678288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128920941678288 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 128920941678288 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 128920941678288 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 128920941683536 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 128920941683536 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 18:51:59 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60eb575e9e70 at 0x7540bf7b7f10>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60eb575eb730 at 0x7540bf7c7610>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60eb575eb730 at 0x7540bf74dd90>
+[05/10 18:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 18:52:01 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:52:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
+[05/10 18:52:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:52:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:52:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081495m
+[05/10 18:52:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:52:02 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 18:52:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83469819  0.11393273  0.08149534] yaw=160.0deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71563594  0.91335377  0.08149534] yaw=-145.2deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.83702882  0.90066737  0.08149534] yaw=-151.6deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:52:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:52:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=11.7ms, retries=147.1ms, total=158.8ms
+[05/10 18:52:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.835, 0.114, 0.081)
+[05/10 18:52:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 160.0 deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.942m
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:52:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:52:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 18:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 25.331s
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:52:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 18:52:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True
+[05/10 18:52:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.455[m] 79.031[deg]
+[05/10 18:52:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:53:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:53:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:53:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:54:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:54:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:54:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:54:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:54:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:54:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:54:31 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:54:31 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:54:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:54:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:54:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
+[05/10 18:54:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.329s, found feasible grasp: True
+[05/10 18:54:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.632[deg]
+[05/10 18:54:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 18:54:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:54:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:54:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:54:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:54:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:54:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:54:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:54:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
+[05/10 18:54:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:54:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:54:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088962m
+[05/10 18:54:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:54:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:54:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:54:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:54:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:54:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07447279  0.96848679  0.08896172] yaw=-141.1deg
+[05/10 18:54:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:54:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.04027818  1.12042477  0.08896172] yaw=-128.1deg
+[05/10 18:54:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:54:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:54:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73082784  0.32557111  0.08896172] yaw=173.8deg
+[05/10 18:54:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:54:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:54:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms
+[05/10 18:54:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.074, 0.968, 0.089)
+[05/10 18:54:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.1 deg
+[05/10 18:54:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m
+[05/10 18:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:54:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:54:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:54:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 18:54:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
+[05/10 18:54:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:54:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:54:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 18:54:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.521s, found feasible grasp: True
+[05/10 18:54:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.348[m] 90.791[deg]
+[05/10 18:54:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:55:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:55:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:55:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:56:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:56:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:56:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:56:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:56:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:56:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:56:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 18:57:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:57:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 18:57:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
+[05/10 18:57:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 18:57:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:57:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.25s (batch: 3.64s, save: 7.61s)
+[05/10 18:57:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.01s:
+  episode_total: mean=161.34s, total=322.68s, count=2, min=153925.5ms, max=168751.2ms
+  sensor_polling: mean=427.5ms, total=231.27s, count=541, min=390.8ms, max=670.2ms
+  physics_step: mean=19.4ms, total=10.48s, count=541, min=14.2ms, max=29.0ms
+  save_trajectories: mean=7.61s, total=7.61s, count=1, min=7611.1ms, max=7611.1ms
+  task_sampling: mean=2.00s, total=4.01s, count=2, min=331.1ms, max=3676.5ms
+  save_batch_prep: mean=3.64s, total=3.64s, count=1, min=3635.4ms, max=3635.4ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
+  task_specific_sample: mean=470.6ms, total=941.1ms, count=2, min=328.8ms, max=612.4ms
+  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
+  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
+  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
+  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
+  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
+  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=373.9us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:57:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:57:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:57:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:57:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:57:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:57:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:57:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:57:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:57:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:57:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:57:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
+[05/10 18:57:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:57:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:57:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029144m
+[05/10 18:57:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:57:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:57:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:57:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0575382   1.04569979  0.02914364] yaw=-146.1deg
+[05/10 18:57:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:57:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87992433  0.88248525  0.02914364] yaw=-162.0deg
+[05/10 18:57:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:57:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9149309   1.21049527  0.02914364] yaw=-128.6deg
+[05/10 18:57:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:57:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:57:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=65.9ms, total=65.9ms
+[05/10 18:57:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.058, 1.046, 0.029)
+[05/10 18:57:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.1 deg
+[05/10 18:57:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.856m
+[05/10 18:57:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:57:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:57:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:57:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:57:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:57:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 18:57:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
+[05/10 18:57:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:57:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:57:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 18:57:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.608s, found feasible grasp: True
+[05/10 18:57:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.448[m] 88.955[deg]
+[05/10 18:57:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:57:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:57:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:58:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:58:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:58:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:59:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:59:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:59:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:59:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:59:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:59:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:59:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:59:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:59:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 76 non-colliding grasps
+[05/10 18:59:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.605s, found feasible grasp: True
+[05/10 18:59:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.293[deg]
+[05/10 18:59:58 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:00:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:00:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:00:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:00:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:00:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:00:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:00:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:00:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
+[05/10 19:00:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:00:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:00:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070481m
+[05/10 19:00:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:00:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:00:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6925216   0.5061356   0.07048102] yaw=-188.1deg
+[05/10 19:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:00:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:00:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.90353355  0.67384229  0.07048102] yaw=-173.7deg
+[05/10 19:00:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:00:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:00:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.1ms, total=269.1ms
+[05/10 19:00:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.506, 0.070)
+[05/10 19:00:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -188.1 deg
+[05/10 19:00:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.010m
+[05/10 19:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:00:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:00:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:00:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 19:00:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
+[05/10 19:00:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:00:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:00:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps
+[05/10 19:00:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.048s, found feasible grasp: True
+[05/10 19:00:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.563[m] 90.669[deg]
+[05/10 19:00:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:00:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:00:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:00:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:01:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:01:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:02:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:02:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:02:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:02:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:03:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:03:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:03:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 14.42s (batch: 4.08s, save: 10.34s)
+[05/10 19:03:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.86s:
+  episode_total: mean=170.35s, total=340.70s, count=2, min=153475.4ms, max=187223.9ms
+  sensor_polling: mean=453.7ms, total=264.08s, count=582, min=386.5ms, max=938.1ms
+  physics_step: mean=21.5ms, total=12.54s, count=582, min=13.4ms, max=67.3ms
+  save_trajectories: mean=10.34s, total=10.34s, count=1, min=10338.8ms, max=10338.8ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4077.0ms, max=4077.0ms
+  task_sampling: mean=431.2ms, total=862.5ms, count=2, min=350.1ms, max=512.4ms
+  task_specific_sample: mean=427.6ms, total=855.3ms, count=2, min=346.2ms, max=509.0ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=440.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=23.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:03:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:03:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:03:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:03:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:03:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:03:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:03:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
+[05/10 19:03:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:03:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:03:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006831m
+[05/10 19:03:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:03:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:03:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90131698  0.57054516  0.00683104] yaw=-168.7deg
+[05/10 19:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.12396136  1.12706501  0.00683104] yaw=-121.1deg
+[05/10 19:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:03:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14496754  1.1188614   0.00683104] yaw=-137.6deg
+[05/10 19:03:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:03:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:03:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=272.4ms, total=272.5ms
+[05/10 19:03:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.571, 0.007)
+[05/10 19:03:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.7 deg
+[05/10 19:03:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m
+[05/10 19:03:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:03:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:03:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:03:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:03:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:03:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 19:03:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 19:03:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:03:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:03:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 19:03:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.673s, found feasible grasp: True
+[05/10 19:03:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.359[m] 88.202[deg]
+[05/10 19:03:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:03:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:05:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:05:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:05:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:05:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
+[05/10 19:06:12 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:06:12 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:06:12 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 15.25s (batch: 3.86s, save: 11.39s)
+[05/10 19:06:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.53s:
+  episode_total: mean=183.76s, total=183.76s, count=1, min=183759.0ms, max=183759.0ms
+  sensor_polling: mean=463.6ms, total=135.83s, count=293, min=396.5ms, max=735.1ms
+  save_trajectories: mean=11.39s, total=11.39s, count=1, min=11393.7ms, max=11393.7ms
+  physics_step: mean=21.5ms, total=6.30s, count=293, min=16.5ms, max=63.1ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3857.3ms, max=3857.3ms
+  task_sampling: mean=530.5ms, total=530.5ms, count=1, min=530.5ms, max=530.5ms
+  task_specific_sample: mean=525.9ms, total=525.9ms, count=1, min=525.9ms, max=525.9ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=594.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:06:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:06:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:06:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
+[05/10 19:06:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:06:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:06:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046622m
+[05/10 19:06:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:06:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:06:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75807543  0.89876004  0.04662154] yaw=-151.2deg
+[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68685243  0.48096134  0.04662154] yaw=172.9deg
+[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:06:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.98828512  0.156259    0.04662154] yaw=146.9deg
+[05/10 19:06:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:06:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:06:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.5ms, total=242.5ms
+[05/10 19:06:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.758, 0.899, 0.047)
+[05/10 19:06:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg
+[05/10 19:06:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.032m
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:06:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 19:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
+[05/10 19:06:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:06:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:06:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:06:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.491s, found feasible grasp: True
+[05/10 19:06:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.627[m] 84.918[deg]
+[05/10 19:06:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:06:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:06:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:06:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:06:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:06:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:06:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:06:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
+[05/10 19:06:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:06:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:06:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063249m
+[05/10 19:06:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:06:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:06:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:06:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91031426  0.89475763  0.06324946] yaw=-148.2deg
+[05/10 19:06:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:06:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74657931  0.29955688  0.06324946] yaw=173.1deg
+[05/10 19:06:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:06:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 100.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.10523343  1.21377645  0.06324946] yaw=-117.9deg
+[05/10 19:06:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:06:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:06:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.3ms
+[05/10 19:06:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.895, 0.063)
+[05/10 19:06:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -148.2 deg
+[05/10 19:06:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
+[05/10 19:06:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:06:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 19:06:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 19:06:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:06:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:06:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 19:06:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.509s, found feasible grasp: True
+[05/10 19:06:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.480[m] 96.496[deg]
+[05/10 19:06:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:07:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:07:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:08:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:09:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:09:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:09:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:09:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:09:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:09:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.37s (batch: 3.57s, save: 9.80s)
+[05/10 19:09:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.15s:
+  episode_total: mean=92.57s, total=185.15s, count=2, min=3369.0ms, max=181778.7ms
+  sensor_polling: mean=451.8ms, total=135.53s, count=300, min=389.8ms, max=827.2ms
+  save_trajectories: mean=9.80s, total=9.80s, count=1, min=9802.8ms, max=9802.8ms
+  physics_step: mean=20.5ms, total=6.14s, count=300, min=16.6ms, max=51.4ms
+  save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3571.1ms, max=3571.1ms
+  task_sampling: mean=572.8ms, total=1.15s, count=2, min=484.2ms, max=661.5ms
+  task_specific_sample: mean=569.8ms, total=1.14s, count=2, min=481.6ms, max=658.1ms
+  scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=366.8us, total=0.7ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:09:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:09:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:09:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:09:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:09:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:09:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:09:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:09:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:09:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:09:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:09:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
+[05/10 19:09:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:09:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:09:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048223m
+[05/10 19:09:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:09:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:09:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94346397  1.20337296  0.04822252] yaw=-137.3deg
+[05/10 19:09:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 112.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89964057  0.6975012   0.04822252] yaw=-170.2deg
+[05/10 19:09:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:09:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69020021  0.75385263  0.04822252] yaw=-157.5deg
+[05/10 19:09:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:09:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:09:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=404.7ms, total=404.8ms
+[05/10 19:09:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.943, 1.203, 0.048)
+[05/10 19:09:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg
+[05/10 19:09:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.047m
+[05/10 19:09:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:09:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:09:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:09:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:09:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 19:09:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.154s
+[05/10 19:09:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:09:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:09:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 19:09:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.250s, found feasible grasp: True
+[05/10 19:09:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.623[m] 90.238[deg]
+[05/10 19:09:28 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:09:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:09:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:09:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:09:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:09:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:09:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:09:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:09:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:09:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:09:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:09:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 19:09:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:09:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:09:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082278m
+[05/10 19:09:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:09:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:09:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:09:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03936046  0.95452202  0.08227833] yaw=-153.0deg
+[05/10 19:09:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:09:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92731733  0.15048     0.08227833] yaw=165.4deg
+[05/10 19:09:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:09:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.794161    0.79167249  0.08227833] yaw=-168.6deg
+[05/10 19:09:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:09:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:09:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.7ms
+[05/10 19:09:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.955, 0.082)
+[05/10 19:09:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg
+[05/10 19:09:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
+[05/10 19:09:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:09:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:09:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:09:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:09:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:09:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 19:09:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 19:09:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:09:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:09:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 19:09:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True
+[05/10 19:09:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.405[m] 87.368[deg]
+[05/10 19:09:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:09:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:09:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:10:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:10:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:11:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:12:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:12:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:12:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:12:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:12:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:12:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 15.26s (batch: 4.02s, save: 11.23s)
+[05/10 19:12:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.13s:
+  episode_total: mean=94.92s, total=189.83s, count=2, min=4534.5ms, max=185299.0ms
+  sensor_polling: mean=459.4ms, total=137.83s, count=300, min=397.2ms, max=1061.9ms
+  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11233.4ms, max=11233.4ms
+  physics_step: mean=20.8ms, total=6.25s, count=300, min=13.6ms, max=55.3ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4021.6ms, max=4021.6ms
+  task_sampling: mean=567.5ms, total=1.13s, count=2, min=370.1ms, max=764.8ms
+  task_specific_sample: mean=563.8ms, total=1.13s, count=2, min=367.4ms, max=760.3ms
+  scene_randomize: mean=2.0ms, total=4.1ms, count=2, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=495.6us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:12:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:12:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:12:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:12:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:12:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:12:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:12:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:12:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:12:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:12:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:12:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 19:12:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:12:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:12:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084899m
+[05/10 19:12:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:12:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:12:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:12:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:12:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:12:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.93815121  0.53433215  0.08489949] yaw=-176.6deg
+[05/10 19:12:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:12:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78568417  0.90194166  0.08489949] yaw=-165.7deg
+[05/10 19:12:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:12:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:12:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79285745  0.468084    0.08489949] yaw=182.5deg
+[05/10 19:12:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:12:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:12:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.3ms, total=101.4ms
+[05/10 19:12:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.938, 0.534, 0.085)
+[05/10 19:12:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -176.6 deg
+[05/10 19:12:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
+[05/10 19:12:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:12:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:12:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:12:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:12:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:12:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 19:12:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 19:12:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:12:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:12:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 19:12:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.435s, found feasible grasp: True
+[05/10 19:12:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.311[m] 85.298[deg]
+[05/10 19:12:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:12:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:12:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:13:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:13:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:15:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:15:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:15:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:15:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 284 timesteps
+[05/10 19:15:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:15:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:15:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.17s (batch: 3.69s, save: 8.48s)
+[05/10 19:15:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.36s:
+  episode_total: mean=179.47s, total=179.47s, count=1, min=179469.8ms, max=179469.8ms
+  sensor_polling: mean=460.0ms, total=130.19s, count=283, min=388.9ms, max=713.7ms
+  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8479.4ms, max=8479.4ms
+  physics_step: mean=21.2ms, total=5.99s, count=283, min=13.6ms, max=48.3ms
+  save_batch_prep: mean=3.69s, total=3.69s, count=1, min=3693.6ms, max=3693.6ms
+  task_sampling: mean=362.2ms, total=362.2ms, count=1, min=362.2ms, max=362.2ms
+  task_specific_sample: mean=358.5ms, total=358.5ms, count=1, min=358.5ms, max=358.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=399.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:15:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:15:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:15:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:15:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:15:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:15:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:15:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:15:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:15:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:15:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:15:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 19:15:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:15:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:15:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087474m
+[05/10 19:15:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:15:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:15:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.00903823  1.33425582  0.08747381] yaw=-129.3deg
+[05/10 19:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87235157  0.47878457  0.08747381] yaw=176.9deg
+[05/10 19:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:15:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:15:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97659762  0.16095397  0.08747381] yaw=153.3deg
+[05/10 19:15:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:15:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:15:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms
+[05/10 19:15:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.009, 1.334, 0.087)
+[05/10 19:15:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -129.3 deg
+[05/10 19:15:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
+[05/10 19:15:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:15:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:15:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:15:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:15:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:15:38 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 19:15:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.133s
+[05/10 19:15:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:15:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:15:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.131s, found 88 non-colliding grasps
+[05/10 19:15:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.097s, found feasible grasp: False
+[05/10 19:15:41 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 19:15:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:15:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:15:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:15:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:15:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:15:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:15:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:15:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:15:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:15:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:15:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.079m, effective arm-mount z=0.939m (base_body_z=0.079m, pedestal_h=0.860m)
+[05/10 19:15:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:15:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:15:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078773m
+[05/10 19:15:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:15:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:15:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:15:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:15:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:15:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:15:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78625291  0.39804339  0.0787727 ] yaw=169.6deg
+[05/10 19:15:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:15:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.87345999  0.71966789  0.0787727 ] yaw=-159.4deg
+[05/10 19:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:15:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96640995  0.84121504  0.0787727 ] yaw=-143.0deg
+[05/10 19:15:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:15:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:15:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=681.8ms, total=681.8ms
+[05/10 19:15:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.398, 0.079)
+[05/10 19:15:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg
+[05/10 19:15:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
+[05/10 19:15:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:15:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:15:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:15:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:15:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:15:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 19:15:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 19:15:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:15:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:15:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 19:15:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.295s, found feasible grasp: True
+[05/10 19:15:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.471[m] 85.788[deg]
+[05/10 19:15:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:15:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:15:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:16:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:16:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:16:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:17:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:17:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:17:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:17:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:17:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:17:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:17:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:17:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:17:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:17:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:17:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 80 non-colliding grasps
+[05/10 19:17:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.378s, found feasible grasp: True
+[05/10 19:17:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.213[deg]
+[05/10 19:17:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:17:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:17:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:18:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:18:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:18:37 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:19:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:19:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:19:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:19:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:19:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:19:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.16s (batch: 3.87s, save: 8.29s)
+[05/10 19:19:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=1.44s:
+  episode_total: mean=108.08s, total=216.16s, count=2, min=3836.4ms, max=212319.3ms
+  sensor_polling: mean=468.9ms, total=140.67s, count=300, min=391.9ms, max=1037.0ms
+  save_trajectories: mean=8.29s, total=8.29s, count=1, min=8288.1ms, max=8288.1ms
+  physics_step: mean=22.1ms, total=6.63s, count=300, min=14.6ms, max=89.4ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.4ms, max=3872.4ms
+  task_sampling: mean=720.6ms, total=1.44s, count=2, min=460.1ms, max=981.1ms
+  task_specific_sample: mean=716.3ms, total=1.43s, count=2, min=456.2ms, max=976.5ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.6ms
+  mj_forward_sync: mean=585.8us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:19:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:19:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:19:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:19:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:19:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:19:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:19:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:19:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:19:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:19:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:19:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
+[05/10 19:19:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:19:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:19:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036768m
+[05/10 19:19:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:19:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:19:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:19:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:19:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7481991   0.68244235  0.03676838] yaw=-179.5deg
+[05/10 19:19:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:19:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.81006446  0.47823023  0.03676838] yaw=186.5deg
+[05/10 19:19:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:19:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:19:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:19:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.84978367  0.92646938  0.03676838] yaw=-151.3deg
+[05/10 19:19:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:19:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:19:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.3ms, total=235.4ms
+[05/10 19:19:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.748, 0.682, 0.037)
+[05/10 19:19:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -179.5 deg
+[05/10 19:19:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.975m
+[05/10 19:19:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:19:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:19:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:19:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:19:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:19:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 19:19:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.071s
+[05/10 19:19:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:19:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:19:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 19:19:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.515s, found feasible grasp: True
+[05/10 19:19:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.521[m] 85.868[deg]
+[05/10 19:19:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:19:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:19:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:20:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:21:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:22:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:22:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:22:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:22:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:22:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:22:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.06s (batch: 4.01s, save: 8.04s)
+[05/10 19:22:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.48s:
+  episode_total: mean=191.83s, total=191.83s, count=1, min=191830.8ms, max=191830.8ms
+  sensor_polling: mean=467.7ms, total=140.31s, count=300, min=389.6ms, max=715.3ms
+  save_trajectories: mean=8.04s, total=8.04s, count=1, min=8042.9ms, max=8042.9ms
+  physics_step: mean=22.7ms, total=6.82s, count=300, min=16.4ms, max=56.1ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4012.2ms, max=4012.2ms
+  task_sampling: mean=477.5ms, total=477.5ms, count=1, min=477.5ms, max=477.5ms
+  task_specific_sample: mean=473.6ms, total=473.6ms, count=1, min=473.6ms, max=473.6ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=380.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:22:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:22:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:22:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:22:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:22:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:22:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:22:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:22:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:22:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:22:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:22:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
+[05/10 19:22:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:22:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:22:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054017m
+[05/10 19:22:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:22:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:22:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:22:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14960527  1.13573657  0.05401719] yaw=-131.9deg
+[05/10 19:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:22:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.83490367  0.64903022  0.05401719] yaw=-179.5deg
+[05/10 19:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:22:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95235789  0.43459283  0.05401719] yaw=169.8deg
+[05/10 19:22:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:22:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:22:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.6ms, total=175.7ms
+[05/10 19:22:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.150, 1.136, 0.054)
+[05/10 19:22:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.9 deg
+[05/10 19:22:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.856m
+[05/10 19:22:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:22:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:22:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:22:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:22:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:22:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 19:22:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.106s
+[05/10 19:22:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:22:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:22:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 19:22:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.107s, found feasible grasp: True
+[05/10 19:22:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.457[m] 80.686[deg]
+[05/10 19:22:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:22:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:22:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:23:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:23:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:24:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:24:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:24:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:24:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:24:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:24:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:24:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:24:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
+[05/10 19:24:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.571s, found feasible grasp: True
+[05/10 19:24:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.058[m] 9.513[deg]
+[05/10 19:24:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:24:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:24:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:24:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:24:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:24:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:24:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:24:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:24:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:24:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:24:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:24:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 19:24:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:24:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:24:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081956m
+[05/10 19:24:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:24:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:24:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:24:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:24:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:24:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:24:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:24:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.94771017  0.86759464  0.08195639] yaw=-159.4deg
+[05/10 19:24:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:24:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80261569  0.08894499  0.08195639] yaw=163.5deg
+[05/10 19:24:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:24:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:24:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=487.8ms, total=487.8ms
+[05/10 19:24:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.948, 0.868, 0.082)
+[05/10 19:24:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg
+[05/10 19:24:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.847m
+[05/10 19:24:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:24:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:24:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:24:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:24:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:24:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 19:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 19:24:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:24:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:24:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 19:24:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True
+[05/10 19:24:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 86.665[deg]
+[05/10 19:24:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:25:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:25:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:25:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:27:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:27:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:27:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:27:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:28:01 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:28:01 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:28:01 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.88s (batch: 3.81s, save: 8.07s)
+[05/10 19:28:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=1.18s:
+  episode_total: mean=164.93s, total=329.86s, count=2, min=142597.9ms, max=187265.4ms
+  sensor_polling: mean=458.1ms, total=254.72s, count=556, min=387.7ms, max=858.6ms
+  physics_step: mean=21.6ms, total=12.02s, count=556, min=16.6ms, max=61.4ms
+  save_trajectories: mean=8.07s, total=8.07s, count=1, min=8066.0ms, max=8066.0ms
+  save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3810.1ms, max=3810.1ms
+  task_sampling: mean=591.0ms, total=1.18s, count=2, min=445.3ms, max=736.8ms
+  task_specific_sample: mean=587.6ms, total=1.18s, count=2, min=441.2ms, max=733.9ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.2ms, max=2.7ms
+  mj_forward_sync: mean=413.0us, total=0.8ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:28:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:28:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:28:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:28:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:28:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:28:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:28:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:28:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:28:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:28:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:28:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 19:28:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:28:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:28:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074360m
+[05/10 19:28:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:28:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:28:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69299864  0.69619572  0.0743603 ] yaw=-168.6deg
+[05/10 19:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85618463  0.58282715  0.0743603 ] yaw=-165.9deg
+[05/10 19:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:28:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:28:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02230848  0.84498051  0.0743603 ] yaw=-157.9deg
+[05/10 19:28:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:28:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:28:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms
+[05/10 19:28:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.696, 0.074)
+[05/10 19:28:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.6 deg
+[05/10 19:28:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.032m
+[05/10 19:28:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:28:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:28:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:28:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:28:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:28:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 19:28:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/10 19:28:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:28:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:28:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 88 non-colliding grasps
+[05/10 19:28:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.744s, found feasible grasp: True
+[05/10 19:28:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.592[m] 88.347[deg]
+[05/10 19:28:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:29:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:29:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:30:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:31:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:31:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:31:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:31:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:31:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:31:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.53s (batch: 3.86s, save: 7.67s)
+[05/10 19:31:12 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.45s:
+  episode_total: mean=188.95s, total=188.95s, count=1, min=188945.3ms, max=188945.3ms
+  sensor_polling: mean=464.7ms, total=139.42s, count=300, min=397.6ms, max=1042.9ms
+  save_trajectories: mean=7.67s, total=7.67s, count=1, min=7669.6ms, max=7669.6ms
+  physics_step: mean=21.2ms, total=6.37s, count=300, min=13.4ms, max=88.3ms
+  save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3861.0ms, max=3861.0ms
+  task_sampling: mean=447.6ms, total=447.6ms, count=1, min=447.6ms, max=447.6ms
+  task_specific_sample: mean=443.1ms, total=443.1ms, count=1, min=443.1ms, max=443.1ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=534.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:31:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:31:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:31:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:31:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:31:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:31:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:31:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:31:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 19:31:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:31:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:31:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013435m
+[05/10 19:31:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:31:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:31:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69543388  0.24971224  0.01343544] yaw=164.2deg
+[05/10 19:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:31:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85045167  0.1076041   0.01343544] yaw=166.3deg
+[05/10 19:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:31:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02172415  0.12426163  0.01343544] yaw=158.0deg
+[05/10 19:31:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:31:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:31:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.4ms, total=96.4ms
+[05/10 19:31:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.250, 0.013)
+[05/10 19:31:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.2 deg
+[05/10 19:31:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.033m
+[05/10 19:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:31:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:31:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:31:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 19:31:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 19:31:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:31:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:31:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 19:31:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True
+[05/10 19:31:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.634[m] 102.781[deg]
+[05/10 19:31:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:31:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:32:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:32:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:32:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:32:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:32:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:33:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:33:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:33:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:33:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:33:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:33:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:33:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:33:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:33:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:33:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
+[05/10 19:33:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.447s, found feasible grasp: True
+[05/10 19:33:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.300[deg]
+[05/10 19:33:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:33:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:33:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:33:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:33:21 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:33:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:33:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:33:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:33:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:33:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:33:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:33:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:33:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:33:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:33:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:33:40 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 19:33:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:33:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:33:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 19:33:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.430s, found feasible grasp: True
+[05/10 19:33:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.889[deg]
+[05/10 19:33:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:33:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:33:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:33:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:33:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:33:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False
+[05/10 19:33:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=False episode_total=0.39s:
+  episode_total: mean=165.84s, total=165.84s, count=1, min=165836.7ms, max=165836.7ms
+  sensor_polling: mean=457.3ms, total=137.18s, count=300, min=384.4ms, max=696.3ms
+  physics_step: mean=20.9ms, total=6.28s, count=300, min=12.6ms, max=85.3ms
+  task_sampling: mean=386.8ms, total=386.8ms, count=1, min=386.8ms, max=386.8ms
+  task_specific_sample: mean=382.6ms, total=382.6ms, count=1, min=382.6ms, max=382.6ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=515.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:34:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:34:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:34:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:34:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:34:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:34:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:34:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:34:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:34:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:34:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:34:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
+[05/10 19:34:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:34:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:34:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.023556m
+[05/10 19:34:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:34:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:34:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:34:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 122.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:34:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:34:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04799081  0.9067216   0.02355592] yaw=-154.7deg
+[05/10 19:34:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:34:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79250185  0.97044528  0.02355592] yaw=-153.3deg
+[05/10 19:34:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:34:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:34:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94722484  0.48828177  0.02355592] yaw=-168.8deg
+[05/10 19:34:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:34:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:34:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=379.4ms, total=379.5ms
+[05/10 19:34:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.048, 0.907, 0.024)
+[05/10 19:34:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.7 deg
+[05/10 19:34:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.780m
+[05/10 19:34:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:34:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:34:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:34:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:34:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:34:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 19:34:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.045s
+[05/10 19:34:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:34:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:34:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.038s, found 88 non-colliding grasps
+[05/10 19:34:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.095s, found feasible grasp: True
+[05/10 19:34:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.337[m] 81.301[deg]
+[05/10 19:34:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:34:04 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:34:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:34:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:34:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:34:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:36:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:36:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:36:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes
+[05/10 19:36:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 289 timesteps
+[05/10 19:36:50 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:36:50 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:36:50 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.52s (batch: 3.87s, save: 7.65s)
+[05/10 19:36:51 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.63s:
+  episode_total: mean=169.38s, total=169.38s, count=1, min=169382.8ms, max=169382.8ms
+  sensor_polling: mean=429.9ms, total=123.81s, count=288, min=377.8ms, max=664.7ms
+  save_trajectories: mean=7.65s, total=7.65s, count=1, min=7650.4ms, max=7650.4ms
+  physics_step: mean=20.4ms, total=5.88s, count=288, min=16.6ms, max=45.1ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3872.2ms, max=3872.2ms
+  task_sampling: mean=626.7ms, total=626.7ms, count=1, min=626.7ms, max=626.7ms
+  task_specific_sample: mean=622.9ms, total=622.9ms, count=1, min=622.9ms, max=622.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=575.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:36:52 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
+[05/10 19:36:52 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
+[05/10 19:36:52 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/12 successful episodes
+[05/10 19:36:52 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=4896.26s
+  House averages:
+  episode_total: mean=147.98s, total=2663.60s, count=18, min=3369.0ms, max=212319.3ms
+  sensor_polling: mean=453.8ms, total=1970.84s, count=4343, min=377.8ms, max=1061.9ms
+  save_trajectories: mean=8.96s, total=98.58s, count=11, min=7611.1ms, max=11393.7ms
+  physics_step: mean=21.1ms, total=91.69s, count=4343, min=12.6ms, max=89.4ms
+  save_batch_prep: mean=3.84s, total=42.28s, count=11, min=3571.1ms, max=4077.0ms
+  task_sampling: mean=700.3ms, total=12.61s, count=18, min=331.1ms, max=3676.5ms
+  task_specific_sample: mean=526.6ms, total=9.48s, count=18, min=328.8ms, max=976.5ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
+  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
+  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
+  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
+  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
+  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
+  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  mj_forward_sync: mean=463.9us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  policy_setup: mean=19.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 19:36:52 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 19:36:52 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=4896.26s
+  Worker averages:
+  episode_total: mean=147.98s, total=2663.60s, count=18, min=3369.0ms, max=212319.3ms
+  sensor_polling: mean=453.8ms, total=1970.84s, count=4343, min=377.8ms, max=1061.9ms
+  save_trajectories: mean=8.96s, total=98.58s, count=11, min=7611.1ms, max=11393.7ms
+  physics_step: mean=21.1ms, total=91.69s, count=4343, min=12.6ms, max=89.4ms
+  save_batch_prep: mean=3.84s, total=42.28s, count=11, min=3571.1ms, max=4077.0ms
+  task_sampling: mean=700.3ms, total=12.61s, count=18, min=331.1ms, max=3676.5ms
+  task_specific_sample: mean=526.6ms, total=9.48s, count=18, min=328.8ms, max=976.5ms
+  scene_load: mean=3.06s, total=3.06s, count=1, min=3061.2ms, max=3061.2ms
+  scene_env_create: mean=2.01s, total=2.01s, count=1, min=2011.8ms, max=2011.8ms
+  scene_compile: mean=909.2ms, total=909.2ms, count=1, min=909.2ms, max=909.2ms
+  compile_mujoco: mean=708.8ms, total=708.8ms, count=1, min=708.8ms, max=708.8ms
+  compile_xml_load: mean=143.6ms, total=143.6ms, count=1, min=143.6ms, max=143.6ms
+  scene_asset_install: mean=79.1ms, total=79.1ms, count=1, min=79.1ms, max=79.1ms
+  scene_init: mean=60.9ms, total=60.9ms, count=1, min=60.9ms, max=60.9ms
+  asset_install_grasps: mean=47.7ms, total=47.7ms, count=1, min=47.7ms, max=47.7ms
+  compile_aux_objects: mean=38.3ms, total=38.3ms, count=1, min=38.3ms, max=38.3ms
+  compile_aux_policy_objects: mean=38.2ms, total=38.2ms, count=1, min=38.2ms, max=38.2ms
+  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=1.1ms, max=3.1ms
+  asset_install_objects: mean=21.6ms, total=21.6ms, count=1, min=21.6ms, max=21.6ms
+  asset_install_scene: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms
+  mj_forward_sync: mean=463.9us, total=8.4ms, count=18, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  policy_setup: mean=19.0us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 19:36:54 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 19:36:54 INFO pipeline.py:1491] Success count: 11, Total count: 12
+[05/10 19:36:54 INFO pipeline.py:1492] Success rate: 91.67%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_006
+==========================================
diff --git a/fridge_7/chunk_006/shard_4_of_4.log b/fridge_7/chunk_006/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..f3410e1e8b22abc4469c62b3e530e4b10da003c0
--- /dev/null
+++ b/fridge_7/chunk_006/shard_4_of_4.log
@@ -0,0 +1,1817 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_006
+  shard=4/4  seed=20604  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:51:58 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 18:51:58 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 18:51:58 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_006'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 18:51:58 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_006'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x763699c276d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20604,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:51:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 18:51:58 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 18:51:58 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 129976875050320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 129976875050320 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 129976875050320 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 129976875050320 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 129976880866896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 129976880866896 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 129976880872848 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 129976880872848 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 129976880872848 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 129976880872848 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 129976880866896 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 129976880866896 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 129976875084112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 129976875084112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 129976875086352 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 129976875086352 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 129976875086352 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 129976875086352 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 129976875084112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 129976875084112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 18:51:58 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 60f06ba25260 at 0x763699e70e50>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60f06ba52e00 at 0x763699afd150>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 60f06ba52e00 at 0x763699ffe410>
+[05/10 18:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 18:52:01 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 18:52:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:52:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:52:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
+[05/10 18:52:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:52:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:52:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006825m
+[05/10 18:52:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:52:02 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 18:52:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81244264  0.10970495  0.0068253 ] yaw=162.3deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96084579  0.68996448  0.0068253 ] yaw=-161.2deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:52:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86396972  0.6822877   0.0068253 ] yaw=-168.1deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:52:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:52:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=32.4ms, retries=281.0ms, total=313.4ms
+[05/10 18:52:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.812, 0.110, 0.007)
+[05/10 18:52:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.3 deg
+[05/10 18:52:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.965m
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:52:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:52:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 18:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 24.580s
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.640s, found feasible grasp: True
+[05/10 18:52:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.532[m] 94.564[deg]
+[05/10 18:52:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:53:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:53:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:53:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:54:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 18:54:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 18:54:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 18:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 18:54:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 18:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 18:54:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 18:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 18:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 18:54:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 18:54:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:54:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:54:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
+[05/10 18:54:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.356s, found feasible grasp: True
+[05/10 18:54:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.482[deg]
+[05/10 18:54:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:54:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:54:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 18:55:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:55:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
+[05/10 18:55:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:55:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 18:55:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:55:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.36s (batch: 4.18s, save: 8.17s)
+[05/10 18:55:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.17s:
+  episode_total: mean=211.14s, total=211.14s, count=1, min=211143.9ms, max=211143.9ms
+  sensor_polling: mean=431.5ms, total=129.46s, count=300, min=400.8ms, max=578.2ms
+  save_trajectories: mean=8.17s, total=8.17s, count=1, min=8172.5ms, max=8172.5ms
+  physics_step: mean=20.2ms, total=6.06s, count=300, min=13.9ms, max=28.2ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4182.6ms, max=4182.6ms
+  task_sampling: mean=4.17s, total=4.17s, count=1, min=4170.1ms, max=4170.1ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
+  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
+  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
+  task_specific_sample: mean=568.4ms, total=568.4ms, count=1, min=568.4ms, max=568.4ms
+  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
+  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
+  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=567.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:55:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:55:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:55:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:55:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:55:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:55:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:55:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:55:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:55:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:55:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:55:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 18:55:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:55:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:55:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009717m
+[05/10 18:55:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:55:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:55:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:55:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 128.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:55:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:55:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77643334  0.5874257   0.0097166 ] yaw=-172.0deg
+[05/10 18:55:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:55:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:55:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:55:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.02552139  0.80729708  0.0097166 ] yaw=-157.5deg
+[05/10 18:55:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:55:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:55:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=252.6ms, total=252.6ms
+[05/10 18:55:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.776, 0.587, 0.010)
+[05/10 18:55:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.0 deg
+[05/10 18:55:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.932m
+[05/10 18:55:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:55:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:55:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:55:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:55:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:55:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 18:55:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
+[05/10 18:55:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:55:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:55:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 18:55:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.479s, found feasible grasp: True
+[05/10 18:55:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.485[m] 88.142[deg]
+[05/10 18:55:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:56:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 18:57:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 18:58:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:58:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
+[05/10 18:58:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 18:58:20 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 18:58:20 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 18:58:20 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.82s (batch: 3.62s, save: 8.19s)
+[05/10 18:58:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.53s:
+  episode_total: mean=170.51s, total=170.51s, count=1, min=170511.8ms, max=170511.8ms
+  sensor_polling: mean=433.1ms, total=129.93s, count=300, min=394.0ms, max=632.8ms
+  save_trajectories: mean=8.19s, total=8.19s, count=1, min=8192.4ms, max=8192.4ms
+  physics_step: mean=19.2ms, total=5.76s, count=300, min=14.5ms, max=27.8ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3624.6ms, max=3624.6ms
+  task_sampling: mean=528.0ms, total=528.0ms, count=1, min=528.0ms, max=528.0ms
+  task_specific_sample: mean=524.4ms, total=524.4ms, count=1, min=524.4ms, max=524.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=398.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 18:58:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 18:58:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 18:58:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 18:58:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:58:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:58:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:58:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:58:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 18:58:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 18:58:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 18:58:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
+[05/10 18:58:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 18:58:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 18:58:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026796m
+[05/10 18:58:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 18:58:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 18:58:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 18:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:58:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 18:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71578058  0.34498013  0.02679642] yaw=175.7deg
+[05/10 18:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 18:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.90716321  0.6962257   0.02679642] yaw=-155.8deg
+[05/10 18:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 18:58:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.08060607  1.13413775  0.02679642] yaw=-143.9deg
+[05/10 18:58:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 18:58:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 18:58:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms
+[05/10 18:58:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.716, 0.345, 0.027)
+[05/10 18:58:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 175.7 deg
+[05/10 18:58:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
+[05/10 18:58:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 18:58:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 18:58:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 18:58:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 18:58:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 18:58:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 18:58:23 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.074s
+[05/10 18:58:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 18:58:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 18:58:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 18:58:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
+[05/10 18:58:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.534[m] 90.711[deg]
+[05/10 18:58:24 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 18:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 18:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 18:59:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 18:59:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 18:59:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:00:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:01:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:01:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
+[05/10 19:01:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:01:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:01:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:01:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 11.84s (batch: 4.00s, save: 7.84s)
+[05/10 19:01:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.40s:
+  episode_total: mean=190.23s, total=190.23s, count=1, min=190230.4ms, max=190230.4ms
+  sensor_polling: mean=481.2ms, total=144.35s, count=300, min=402.3ms, max=879.2ms
+  save_trajectories: mean=7.84s, total=7.84s, count=1, min=7841.8ms, max=7841.8ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=14.0ms, max=93.4ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3997.3ms, max=3997.3ms
+  task_sampling: mean=403.4ms, total=403.4ms, count=1, min=403.4ms, max=403.4ms
+  task_specific_sample: mean=399.9ms, total=399.9ms, count=1, min=399.9ms, max=399.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=408.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:01:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:01:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:01:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:01:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 19:01:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:01:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:01:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035270m
+[05/10 19:01:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:01:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:01:35 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:01:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75010562 -0.00885265  0.03527008] yaw=161.4deg
+[05/10 19:01:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:01:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78484861  0.59316214  0.03527008] yaw=-163.1deg
+[05/10 19:01:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:01:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96125174  0.30942488  0.03527008] yaw=165.6deg
+[05/10 19:01:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:01:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:01:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.4ms
+[05/10 19:01:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.750, -0.009, 0.035)
+[05/10 19:01:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.4 deg
+[05/10 19:01:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.071m
+[05/10 19:01:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:01:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:01:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:01:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:01:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:01:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 19:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 19:01:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:01:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:01:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 19:01:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.689s, found feasible grasp: True
+[05/10 19:01:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.632[m] 90.095[deg]
+[05/10 19:01:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:01:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:01:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:01:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:01:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:01:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:01:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:01:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:01:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:01:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:01:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:01:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 19:01:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:01:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:01:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.055125m
+[05/10 19:01:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:01:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:01:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:01:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78243411  0.87676521  0.05512521] yaw=-164.5deg
+[05/10 19:01:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:01:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93940621  0.88491134  0.05512521] yaw=-150.9deg
+[05/10 19:01:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:01:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:01:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.5ms, total=180.6ms
+[05/10 19:01:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.877, 0.055)
+[05/10 19:01:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.5 deg
+[05/10 19:01:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
+[05/10 19:01:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:01:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:01:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:01:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:01:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:01:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 19:01:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
+[05/10 19:01:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:01:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:01:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 19:01:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.853s, found feasible grasp: True
+[05/10 19:01:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 40 (originally 40): w/ 0.532[m] 84.722[deg]
+[05/10 19:01:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:01:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:01:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:01:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:01:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:01:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:01:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:01:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:01:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:01:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:01:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/10 19:01:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:01:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:01:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072648m
+[05/10 19:01:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:01:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:01:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:01:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.9188889   0.33960113  0.07264779] yaw=159.8deg
+[05/10 19:01:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:01:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.74593304  0.53107616  0.07264779] yaw=-168.2deg
+[05/10 19:01:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:01:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:01:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92948066  0.61383236  0.07264779] yaw=-176.4deg
+[05/10 19:01:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:01:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:01:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.4ms, total=76.4ms
+[05/10 19:01:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.919, 0.340, 0.073)
+[05/10 19:01:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.8 deg
+[05/10 19:01:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
+[05/10 19:01:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:01:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:01:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:01:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:01:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 19:01:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 19:01:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:01:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:01:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:01:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.523s, found feasible grasp: True
+[05/10 19:01:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.382[m] 95.726[deg]
+[05/10 19:01:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:01:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:01:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:02:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:02:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:03:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:03:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:03:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:03:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:03:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:03:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:03:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:03:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:03:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 78 non-colliding grasps
+[05/10 19:03:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.406s, found feasible grasp: True
+[05/10 19:03:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.800[deg]
+[05/10 19:03:31 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:03:33 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:03:33 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:03:33 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:03:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:03:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:03:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:03:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:03:33 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:03:33 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:03:33 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:03:33 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
+[05/10 19:03:33 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:03:33 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:03:33 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009198m
+[05/10 19:03:33 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:03:33 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:03:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:03:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80790499  0.19076359  0.00919786] yaw=162.0deg
+[05/10 19:03:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:03:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:03:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9321197   0.74229317  0.00919786] yaw=-162.0deg
+[05/10 19:03:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:03:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.80230296  0.20440691  0.00919786] yaw=155.1deg
+[05/10 19:03:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:03:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:03:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=401.2ms, total=401.2ms
+[05/10 19:03:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.191, 0.009)
+[05/10 19:03:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.0 deg
+[05/10 19:03:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.941m
+[05/10 19:03:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:03:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:03:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:03:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:03:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:03:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 19:03:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
+[05/10 19:03:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:03:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:03:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.070s, found 88 non-colliding grasps
+[05/10 19:03:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.729s, found feasible grasp: True
+[05/10 19:03:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.509[m] 87.422[deg]
+[05/10 19:03:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:03:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:04:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:04:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:05:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:05:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:05:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:05:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:05:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:05:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:06:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:06:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:06:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:06:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:06:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:06:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 80 non-colliding grasps
+[05/10 19:06:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.387s, found feasible grasp: True
+[05/10 19:06:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.146[deg]
+[05/10 19:06:01 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:06:03 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:06:03 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:06:03 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:06:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:03 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:06:03 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:06:03 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:06:03 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 19:06:03 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:06:03 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:06:03 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030937m
+[05/10 19:06:03 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:06:03 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:06:03 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:06:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87686889  1.01125251  0.03093666] yaw=-139.2deg
+[05/10 19:06:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:06:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:03 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92854805  0.93516997  0.03093666] yaw=-148.0deg
+[05/10 19:06:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:06:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.71858181  0.63063159  0.03093666] yaw=-179.3deg
+[05/10 19:06:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:06:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:06:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=258.4ms, total=258.4ms
+[05/10 19:06:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.877, 1.011, 0.031)
+[05/10 19:06:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -139.2 deg
+[05/10 19:06:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.981m
+[05/10 19:06:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:06:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 19:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
+[05/10 19:06:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:06:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:06:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 19:06:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.481s, found feasible grasp: True
+[05/10 19:06:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.569[m] 91.324[deg]
+[05/10 19:06:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:06:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:06:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:06:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:06:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:06:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:06:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:06:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 19:06:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:06:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:06:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030934m
+[05/10 19:06:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:06:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:06:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:06:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 93.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:06:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73955949  0.45507532  0.03093433] yaw=172.0deg
+[05/10 19:06:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:06:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92737788  1.09649015  0.03093433] yaw=-147.7deg
+[05/10 19:06:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:06:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86911205  0.76872358  0.03093433] yaw=-162.0deg
+[05/10 19:06:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:06:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:06:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.9ms, total=70.9ms
+[05/10 19:06:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.740, 0.455, 0.031)
+[05/10 19:06:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 172.0 deg
+[05/10 19:06:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.963m
+[05/10 19:06:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:06:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:06:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:06:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:06:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:06:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 19:06:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
+[05/10 19:06:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:06:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:06:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.089s, found 88 non-colliding grasps
+[05/10 19:06:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.693s, found feasible grasp: True
+[05/10 19:06:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.511[m] 91.184[deg]
+[05/10 19:06:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:06:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:07:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:08:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:08:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:08:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:08:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:08:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:08:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 78 non-colliding grasps
+[05/10 19:08:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.345s, found feasible grasp: True
+[05/10 19:08:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.516[deg]
+[05/10 19:08:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:08:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:08:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:08:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:08:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:08:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:09:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:09:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
+[05/10 19:09:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:09:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:09:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:09:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 14.64s (batch: 4.89s, save: 9.75s)
+[05/10 19:09:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=2.55s:
+  episode_total: mean=78.19s, total=469.16s, count=6, min=3228.2ms, max=199425.2ms
+  sensor_polling: mean=459.1ms, total=349.36s, count=761, min=392.2ms, max=906.3ms
+  physics_step: mean=21.8ms, total=16.60s, count=761, min=14.1ms, max=60.6ms
+  save_trajectories: mean=9.75s, total=9.75s, count=1, min=9748.6ms, max=9748.6ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4892.7ms, max=4892.7ms
+  task_sampling: mean=425.7ms, total=2.55s, count=6, min=298.5ms, max=668.0ms
+  task_specific_sample: mean=422.6ms, total=2.54s, count=6, min=296.2ms, max=665.1ms
+  scene_randomize: mean=1.5ms, total=9.2ms, count=6, min=1.1ms, max=2.1ms
+  mj_forward_sync: mean=437.3us, total=2.6ms, count=6, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms
+[05/10 19:09:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:09:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:09:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:09:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:09:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:09:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:09:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:09:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:09:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:09:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
+[05/10 19:09:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:09:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:09:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059708m
+[05/10 19:09:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:09:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:09:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:09:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95830597  0.14220888  0.05970755] yaw=157.1deg
+[05/10 19:09:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:09:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:09:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95401952  0.68471503  0.05970755] yaw=-173.4deg
+[05/10 19:09:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:09:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.16587387  1.14275301  0.05970755] yaw=-130.1deg
+[05/10 19:09:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:09:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:09:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=89.7ms, total=89.7ms
+[05/10 19:09:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.142, 0.060)
+[05/10 19:09:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.1 deg
+[05/10 19:09:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.818m
+[05/10 19:09:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:09:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:09:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:09:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:09:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 19:09:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 19:09:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:09:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:09:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 19:09:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.651s, found feasible grasp: True
+[05/10 19:09:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.425[m] 94.625[deg]
+[05/10 19:09:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:09:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:09:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:10:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:10:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:10:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:11:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:11:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:11:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:11:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:11:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:11:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:11:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:11:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 80 non-colliding grasps
+[05/10 19:11:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.429s, found feasible grasp: True
+[05/10 19:11:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.138[deg]
+[05/10 19:11:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:11:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:11:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:11:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:11:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:11:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:11:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:11:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:11:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:11:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:11:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:11:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 19:11:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:11:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:11:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025371m
+[05/10 19:11:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:11:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:11:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:11:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.62372097  0.54540133  0.02537102] yaw=-173.4deg
+[05/10 19:11:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:11:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75218811  0.18054499  0.02537102] yaw=154.5deg
+[05/10 19:11:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:11:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:11:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.88744511  1.00673041  0.02537102] yaw=-138.6deg
+[05/10 19:11:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:11:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:11:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=324.6ms, total=324.6ms
+[05/10 19:11:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.624, 0.545, 0.025)
+[05/10 19:11:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.4 deg
+[05/10 19:11:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.080m
+[05/10 19:11:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:11:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:11:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:11:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:11:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:11:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 19:11:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 19:11:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:11:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:11:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.039s, found 88 non-colliding grasps
+[05/10 19:11:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.681s, found feasible grasp: True
+[05/10 19:11:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.654[m] 99.150[deg]
+[05/10 19:11:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:11:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:11:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:12:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:12:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:12:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:14:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:14:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:14:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
+[05/10 19:14:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:14:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:14:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:14:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.50s (batch: 3.73s, save: 9.77s)
+[05/10 19:14:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.92s:
+  episode_total: mean=151.66s, total=303.33s, count=2, min=118162.7ms, max=185165.9ms
+  sensor_polling: mean=467.3ms, total=235.03s, count=503, min=399.8ms, max=791.0ms
+  physics_step: mean=21.8ms, total=10.96s, count=503, min=13.7ms, max=47.7ms
+  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9766.2ms, max=9766.2ms
+  save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3732.5ms, max=3732.5ms
+  task_sampling: mean=460.2ms, total=920.3ms, count=2, min=354.7ms, max=565.6ms
+  task_specific_sample: mean=455.9ms, total=911.7ms, count=2, min=350.7ms, max=561.0ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=477.4us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:14:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:14:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:14:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:14:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:14:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:14:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:14:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:14:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:14:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:14:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:14:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
+[05/10 19:14:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:14:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:14:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033890m
+[05/10 19:14:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:14:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:14:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:14:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:14:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.71386259  0.42507214  0.0338905 ] yaw=178.0deg
+[05/10 19:14:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:14:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.70366184  0.49535685  0.0338905 ] yaw=-181.9deg
+[05/10 19:14:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:14:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.03423039  1.05802274  0.0338905 ] yaw=-132.3deg
+[05/10 19:14:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:14:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:14:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.6ms, total=150.6ms
+[05/10 19:14:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.425, 0.034)
+[05/10 19:14:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 178.0 deg
+[05/10 19:14:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.990m
+[05/10 19:14:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:14:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:14:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:14:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:14:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:14:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 19:14:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 19:14:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:14:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:14:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 19:14:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.552s, found feasible grasp: True
+[05/10 19:14:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.546[m] 94.445[deg]
+[05/10 19:14:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:14:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:15:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:15:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:15:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:17:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:17:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:17:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:17:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:17:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:17:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:17:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:17:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:17:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:17:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:17:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
+[05/10 19:17:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.377s, found feasible grasp: True
+[05/10 19:17:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.419[deg]
+[05/10 19:17:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:17:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:17:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:17:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:17:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:17:47 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:17:47 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
+[05/10 19:17:47 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:18:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:18:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:18:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 12.54s (batch: 4.38s, save: 8.16s)
+[05/10 19:18:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.44s:
+  episode_total: mean=199.80s, total=199.80s, count=1, min=199799.2ms, max=199799.2ms
+  sensor_polling: mean=469.2ms, total=140.75s, count=300, min=401.2ms, max=846.0ms
+  save_trajectories: mean=8.16s, total=8.16s, count=1, min=8164.2ms, max=8164.2ms
+  physics_step: mean=22.6ms, total=6.77s, count=300, min=13.5ms, max=50.1ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4375.6ms, max=4375.6ms
+  task_sampling: mean=439.4ms, total=439.4ms, count=1, min=439.4ms, max=439.4ms
+  task_specific_sample: mean=435.0ms, total=435.0ms, count=1, min=435.0ms, max=435.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=562.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=14.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:18:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:18:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:18:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:18:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:18:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:18:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:18:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:18:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:18:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:18:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:18:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
+[05/10 19:18:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:18:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:18:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069916m
+[05/10 19:18:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:18:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:18:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:18:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:18:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91429128  0.36425648  0.06991551] yaw=162.2deg
+[05/10 19:18:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:18:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:18:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:18:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:18:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92319623  1.03182846  0.06991551] yaw=-145.7deg
+[05/10 19:18:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:18:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90644387  0.86824515  0.06991551] yaw=-156.4deg
+[05/10 19:18:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:18:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:18:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.1ms, total=122.1ms
+[05/10 19:18:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.914, 0.364, 0.070)
+[05/10 19:18:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.2 deg
+[05/10 19:18:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.797m
+[05/10 19:18:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:18:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:18:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:18:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:18:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:18:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 19:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
+[05/10 19:18:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:18:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:18:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 19:18:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.431s, found feasible grasp: True
+[05/10 19:18:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.352[m] 89.109[deg]
+[05/10 19:18:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:18:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:18:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:18:46 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:18:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:19:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:19:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:19:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:19:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:19:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:19:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:19:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:19:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:19:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 78 non-colliding grasps
+[05/10 19:19:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.403s, found feasible grasp: True
+[05/10 19:19:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.673[deg]
+[05/10 19:19:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:19:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:19:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
+[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 19:19:52 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:19:52 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:19:52 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 78 non-colliding grasps
+[05/10 19:19:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.413s, found feasible grasp: True
+[05/10 19:19:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.673[deg]
+[05/10 19:19:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:19:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:19:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:19:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:20:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:20:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:20:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:20:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 19:20:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:20:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:20:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 80 non-colliding grasps
+[05/10 19:20:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.324s, found feasible grasp: True
+[05/10 19:20:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.672[deg]
+[05/10 19:20:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:20:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:20:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:20:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:20:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:20:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 19:20:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False
+[05/10 19:20:19 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=False episode_total=0.39s:
+  episode_total: mean=137.24s, total=137.24s, count=1, min=137241.4ms, max=137241.4ms
+  sensor_polling: mean=481.3ms, total=100.10s, count=208, min=405.4ms, max=992.0ms
+  physics_step: mean=23.7ms, total=4.93s, count=208, min=11.9ms, max=103.6ms
+  task_sampling: mean=385.0ms, total=385.0ms, count=1, min=385.0ms, max=385.0ms
+  task_specific_sample: mean=381.9ms, total=381.9ms, count=1, min=381.9ms, max=381.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=386.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:20:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:20:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:20:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:20:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:20:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:20:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:20:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:20:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:20:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:20:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:20:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)
+[05/10 19:20:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:20:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:20:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.090484m
+[05/10 19:20:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:20:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:20:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:20:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:20:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.91339618  0.19110336  0.09048423] yaw=169.6deg
+[05/10 19:20:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:20:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91033214  0.90920914  0.09048423] yaw=-160.4deg
+[05/10 19:20:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:20:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68067852  0.81703755  0.09048423] yaw=-157.5deg
+[05/10 19:20:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:20:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:20:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.2ms, total=131.2ms
+[05/10 19:20:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.913, 0.191, 0.090)
+[05/10 19:20:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.6 deg
+[05/10 19:20:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.841m
+[05/10 19:20:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:20:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:20:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:20:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:20:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:20:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 19:20:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.043s
+[05/10 19:20:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:20:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:20:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:20:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.497s, found feasible grasp: True
+[05/10 19:20:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.408[m] 88.182[deg]
+[05/10 19:20:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:20:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:21:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:21:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:21:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:22:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:22:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:22:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:22:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:22:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:22:12 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:22:12 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:22:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:22:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:22:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
+[05/10 19:22:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.342s, found feasible grasp: True
+[05/10 19:22:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.324[deg]
+[05/10 19:22:14 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:22:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:22:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:22:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:22:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:22:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:22:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:22:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:22:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:22:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:22:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:22:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 19:22:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:22:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:22:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024669m
+[05/10 19:22:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:22:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:22:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:22:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:22:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:22:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.73679213  0.05392849  0.02466882] yaw=167.1deg
+[05/10 19:22:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:22:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:22:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:22:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.12525039  1.13441302  0.02466882] yaw=-133.7deg
+[05/10 19:22:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:22:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:22:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.8ms
+[05/10 19:22:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.737, 0.054, 0.025)
+[05/10 19:22:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.1 deg
+[05/10 19:22:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.056m
+[05/10 19:22:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:22:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:22:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:22:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:22:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:22:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 19:22:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
+[05/10 19:22:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:22:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:22:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 19:22:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.452s, found feasible grasp: True
+[05/10 19:22:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.597[m] 85.037[deg]
+[05/10 19:22:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:22:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:23:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:23:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:25:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:25:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:25:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
+[05/10 19:25:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:25:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:25:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:25:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 13.68s (batch: 3.82s, save: 9.86s)
+[05/10 19:25:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.83s:
+  episode_total: mean=159.61s, total=319.22s, count=2, min=113162.4ms, max=206061.9ms
+  sensor_polling: mean=459.1ms, total=228.62s, count=498, min=396.4ms, max=743.3ms
+  physics_step: mean=22.4ms, total=11.17s, count=498, min=13.7ms, max=56.7ms
+  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9855.4ms, max=9855.4ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3823.5ms, max=3823.5ms
+  task_sampling: mean=413.7ms, total=827.3ms, count=2, min=366.0ms, max=461.3ms
+  task_specific_sample: mean=409.6ms, total=819.2ms, count=2, min=362.9ms, max=456.3ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=449.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:25:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:25:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:25:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:25:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:25:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:25:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:25:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:25:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:25:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:25:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:25:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.045m, effective arm-mount z=0.905m (base_body_z=0.045m, pedestal_h=0.860m)
+[05/10 19:25:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:25:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:25:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045478m
+[05/10 19:25:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:25:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:25:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -35.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:25:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:25:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.7849755   0.07059824  0.04547836] yaw=155.1deg
+[05/10 19:25:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:25:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87994603  0.89636905  0.04547836] yaw=-152.2deg
+[05/10 19:25:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:25:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:25:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=810.7ms, total=810.7ms
+[05/10 19:25:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.785, 0.071, 0.045)
+[05/10 19:25:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 155.1 deg
+[05/10 19:25:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.005m
+[05/10 19:25:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:25:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:25:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:25:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:25:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 19:25:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.120s
+[05/10 19:25:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:25:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:25:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 19:25:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.040s, found feasible grasp: True
+[05/10 19:25:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.572[m] 93.635[deg]
+[05/10 19:25:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:25:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:26:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:26:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:28:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:28:38 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:28:38 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes
+[05/10 19:28:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:28:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:28:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_006
+[05/10 19:28:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_006 in 16.02s (batch: 4.24s, save: 11.77s)
+[05/10 19:28:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.13s:
+  episode_total: mean=191.79s, total=191.79s, count=1, min=191791.2ms, max=191791.2ms
+  sensor_polling: mean=459.0ms, total=137.69s, count=300, min=396.2ms, max=711.9ms
+  save_trajectories: mean=11.77s, total=11.77s, count=1, min=11772.2ms, max=11772.2ms
+  physics_step: mean=22.3ms, total=6.68s, count=300, min=16.7ms, max=64.3ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4244.4ms, max=4244.4ms
+  task_sampling: mean=1.13s, total=1.13s, count=1, min=1126.6ms, max=1126.6ms
+  task_specific_sample: mean=1.12s, total=1.12s, count=1, min=1122.0ms, max=1122.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=572.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:28:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:28:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:28:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:28:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:28:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:28:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:28:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:28:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:28:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:28:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:28:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 19:28:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:28:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:28:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034861m
+[05/10 19:28:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:28:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:28:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:28:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90620847  1.05989578  0.03486075] yaw=-141.6deg
+[05/10 19:28:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:28:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:28:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:28:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98101817  0.15038829  0.03486075] yaw=150.3deg
+[05/10 19:28:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:28:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:28:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.89775821  1.08977325  0.03486075] yaw=-146.7deg
+[05/10 19:28:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:28:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:28:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=219.9ms
+[05/10 19:28:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.906, 1.060, 0.035)
+[05/10 19:28:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.6 deg
+[05/10 19:28:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.984m
+[05/10 19:28:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:28:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:28:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:28:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:28:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:28:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 19:28:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 19:28:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:28:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:28:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 19:28:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.546s, found feasible grasp: True
+[05/10 19:28:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.569[m] 91.002[deg]
+[05/10 19:29:00 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:29:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:29:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:29:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:29:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:29:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:29:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:29:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:29:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:29:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:29:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:29:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
+[05/10 19:29:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:29:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:29:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095615m
+[05/10 19:29:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:29:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:29:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:29:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 102.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:29:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08661142  1.02150901  0.09561494] yaw=-128.5deg
+[05/10 19:29:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:29:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.02641749  0.82442678  0.09561494] yaw=-153.7deg
+[05/10 19:29:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:29:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.95425569  0.85642442  0.09561494] yaw=-159.0deg
+[05/10 19:29:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:29:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:29:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.3ms, total=181.4ms
+[05/10 19:29:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.087, 1.022, 0.096)
+[05/10 19:29:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -128.5 deg
+[05/10 19:29:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.819m
+[05/10 19:29:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:29:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:29:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:29:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:29:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:29:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 19:29:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 19:29:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:29:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:29:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 19:29:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.980s, found feasible grasp: True
+[05/10 19:29:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.384[m] 89.580[deg]
+[05/10 19:29:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:29:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:29:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:29:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:31:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:31:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:31:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:31:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:31:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:31:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:31:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:31:35 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:31:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:31:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:31:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 76 non-colliding grasps
+[05/10 19:31:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.703s, found feasible grasp: True
+[05/10 19:31:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.288[deg]
+[05/10 19:31:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:31:38 Worker 0 WARNING task_sampler.py:396] Asset Fridge_7_upside_down (hash: a079a499003c75f24f76325cf35d2986) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose
+[05/10 19:31:39 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
+[05/10 19:31:39 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_006
+[05/10 19:31:39 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 8/9 successful episodes
+[05/10 19:31:39 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 8/9 successful, 9 episodes, total_time=4293.41s
+  House averages:
+  episode_total: mean=130.65s, total=2351.67s, count=18, min=3119.9ms, max=211143.9ms
+  sensor_polling: mean=459.0ms, total=1723.95s, count=3756, min=381.6ms, max=1019.1ms
+  physics_step: mean=21.9ms, total=82.18s, count=3756, min=11.9ms, max=103.6ms
+  save_trajectories: mean=9.19s, total=73.51s, count=8, min=7841.8ms, max=11772.2ms
+  save_batch_prep: mean=4.11s, total=32.87s, count=8, min=3624.6ms, max=4892.7ms
+  task_sampling: mean=680.4ms, total=12.25s, count=18, min=298.5ms, max=4170.1ms
+  task_specific_sample: mean=476.8ms, total=8.58s, count=18, min=296.2ms, max=1122.0ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
+  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
+  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
+  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
+  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
+  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  scene_randomize: mean=1.9ms, total=35.1ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  mj_forward_sync: mean=464.8us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=17.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 19:31:39 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 19:31:39 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 9 episodes, total_time=4293.41s
+  Worker averages:
+  episode_total: mean=130.65s, total=2351.67s, count=18, min=3119.9ms, max=211143.9ms
+  sensor_polling: mean=459.0ms, total=1723.95s, count=3756, min=381.6ms, max=1019.1ms
+  physics_step: mean=21.9ms, total=82.18s, count=3756, min=11.9ms, max=103.6ms
+  save_trajectories: mean=9.19s, total=73.51s, count=8, min=7841.8ms, max=11772.2ms
+  save_batch_prep: mean=4.11s, total=32.87s, count=8, min=3624.6ms, max=4892.7ms
+  task_sampling: mean=680.4ms, total=12.25s, count=18, min=298.5ms, max=4170.1ms
+  task_specific_sample: mean=476.8ms, total=8.58s, count=18, min=296.2ms, max=1122.0ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3598.3ms, max=3598.3ms
+  scene_env_create: mean=2.39s, total=2.39s, count=1, min=2389.8ms, max=2389.8ms
+  scene_compile: mean=1.09s, total=1.09s, count=1, min=1086.4ms, max=1086.4ms
+  compile_mujoco: mean=689.7ms, total=689.7ms, count=1, min=689.7ms, max=689.7ms
+  compile_xml_load: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms
+  scene_init: mean=81.5ms, total=81.5ms, count=1, min=81.5ms, max=81.5ms
+  scene_asset_install: mean=40.3ms, total=40.3ms, count=1, min=40.3ms, max=40.3ms
+  compile_aux_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  compile_aux_policy_objects: mean=38.5ms, total=38.5ms, count=1, min=38.5ms, max=38.5ms
+  scene_randomize: mean=1.9ms, total=35.1ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=29.3ms, total=29.3ms, count=1, min=29.3ms, max=29.3ms
+  compile_robot_add: mean=15.5ms, total=15.5ms, count=1, min=15.5ms, max=15.5ms
+  asset_install_objects: mean=8.5ms, total=8.5ms, count=1, min=8.5ms, max=8.5ms
+  mj_forward_sync: mean=464.8us, total=8.4ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=17.6us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 19:31:42 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 19:31:42 INFO pipeline.py:1491] Success count: 8, Total count: 9
+[05/10 19:31:42 INFO pipeline.py:1492] Success rate: 88.89%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_006
+==========================================
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new file mode 100644
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+05/10 19:44:49 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 19:44:49 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 19:44:49 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 19:44:49 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7bdac2d7c950>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
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+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20704,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 19:44:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 19:44:49 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 19:44:49 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 19:44:49 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 19:44:49 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 19:44:49 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 19:44:49 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
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+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x703c7c2be4d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20701,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 19:44:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 19:44:49 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 19:44:49 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 19:44:49 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 19:44:50 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 19:44:50 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 19:44:50 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 19:44:50 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 19:44:50 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7eae3aabc850>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20703,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 19:44:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 19:44:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 19:44:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 19:44:50 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 19:44:50 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 19:44:50 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 19:44:50 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 19:44:50 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7341c196b690>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20702,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 19:44:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 19:44:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 19:44:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 19:44:50 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 19:44:52 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 19:44:52 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 19:44:52 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 19:44:52 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 19:44:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:44:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:44:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:44:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:44:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068289m	[env.py: 870]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:44:52 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:44:52 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 19:44:52 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72708946  0.35574647  0.0682893 ] yaw=170.2deg	[env.py: 1019]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98115611  0.99723023  0.0682893 ] yaw=-154.9deg	[env.py: 1019]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90074078  0.62346739  0.0682893 ] yaw=-163.5deg	[env.py: 1019]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:44:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=13.7ms, retries=133.5ms, total=147.2ms	[env.py: 1075]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.356, 0.068)	[env.py: 1079]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg	[env.py: 1082]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:44:52 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 19:44:52 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 19:44:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:44:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:44:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:44:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:44:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040459m	[env.py: 870]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:44:52 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 19:44:52 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 19:44:52 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93951293  1.03241453  0.04045881] yaw=-135.3deg	[env.py: 1019]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:52 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 19:44:52 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 19:44:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:44:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67885125  0.22759735  0.04045881] yaw=170.8deg	[env.py: 1019]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:44:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:44:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:44:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:44:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:44:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018409m	[env.py: 870]
+05/10 19:44:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:44:52 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03138415  1.1204511   0.04045881] yaw=-126.3deg	[env.py: 1019]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=46.9ms, retries=200.4ms, total=247.3ms	[env.py: 1075]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.940, 1.032, 0.040)	[env.py: 1079]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.3 deg	[env.py: 1082]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:44:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:44:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74968595  0.78148478  0.01840942] yaw=-167.8deg	[env.py: 1019]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92929802  0.83406204  0.01840942] yaw=-162.0deg	[env.py: 1019]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92112802  0.86820348  0.01840942] yaw=-144.8deg	[env.py: 1019]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=48.9ms, retries=171.7ms, total=220.7ms	[env.py: 1075]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.781, 0.018)	[env.py: 1079]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:44:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:44:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:44:53 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 19:44:53 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 19:44:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:44:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:44:53 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 19:44:53 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 19:44:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:44:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:44:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:44:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:44:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062358m	[env.py: 870]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:44:53 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94611288  1.17634791  0.06235842] yaw=-134.5deg	[env.py: 1019]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76954052  0.08004172  0.06235842] yaw=159.2deg	[env.py: 1019]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74807338  0.91854216  0.06235842] yaw=-163.8deg	[env.py: 1019]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=14.1ms, retries=140.5ms, total=154.7ms	[env.py: 1075]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.946, 1.176, 0.062)	[env.py: 1079]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg	[env.py: 1082]
+05/10 19:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:44:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:44:53 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:45:20 INFO: [Worker 0] Warmed up parallel IK solver in 26.599s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:45:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:45:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:45:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:45:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:45:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 85.497[deg]	[grasp_sample.py: 539]
+05/10 19:45:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 27.071s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:45:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:45:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 28.438s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:45:21 INFO: [Worker 0] Warmed up parallel IK solver in 28.576s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:45:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:45:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:45:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:45:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:45:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.567[m] 93.709[deg]	[grasp_sample.py: 539]
+05/10 19:45:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:45:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:45:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:45:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.557s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:45:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.537[m] 92.204[deg]	[grasp_sample.py: 539]
+05/10 19:45:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:45:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:45:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:45:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.961s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:45:26 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.613[m] 95.467[deg]	[grasp_sample.py: 539]
+05/10 19:45:27 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:45:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:45:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:45:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:45:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:45:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:45:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:45:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027235m	[env.py: 870]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:45:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95766998  0.23143234  0.02723459] yaw=166.1deg	[env.py: 1019]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85154113  0.37219871  0.02723459] yaw=177.6deg	[env.py: 1019]
+05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:45:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=402.2ms, total=402.2ms	[env.py: 1075]
+05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.231, 0.027)	[env.py: 1079]
+05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg	[env.py: 1082]
+05/10 19:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/10 19:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:45:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:45:29 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:45:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:45:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:45:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:45:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:45:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:45:30 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.319[m] 81.614[deg]	[grasp_sample.py: 539]
+05/10 19:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:45:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:45:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:46:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:46:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:46:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:46:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:46:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:46:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:46:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:46:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:46:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:46:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:46:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:46:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:47:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:47:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:47:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:47:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:47:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.801s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:47:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.391[deg]	[grasp_sample.py: 539]
+05/10 19:47:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:47:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:47:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:47:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:47:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:47:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:06 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:48:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:48:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:48:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:48:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:48:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.403s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:48:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.960[deg]	[grasp_sample.py: 539]
+05/10 19:48:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:48:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:48:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:48:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:26 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:48:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:48:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:48:27 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:48:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:31 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:48:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:48:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:48:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:48:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:48:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.91s (batch: 3.87s, save: 9.04s)	[pipeline.py: 300]
+05/10 19:48:40 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.25s:
+  episode_total: mean=230.32s, total=230.32s, count=1, min=230324.3ms, max=230324.3ms
+  sensor_polling: mean=515.8ms, total=154.75s, count=300, min=439.0ms, max=760.0ms
+  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9039.2ms, max=9039.2ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.6ms, max=78.8ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3871.6ms, max=3871.6ms
+  task_sampling: mean=3.25s, total=3.25s, count=1, min=3245.1ms, max=3245.1ms
+  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
+  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
+  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
+  task_specific_sample: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms
+  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
+  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
+  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
+  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=636.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:48:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:48:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:48:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:48:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:48:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:48:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:48:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064530m	[env.py: 870]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:48:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77937936  0.2091806   0.06453014] yaw=174.4deg	[env.py: 1019]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91729657  0.55505217  0.06453014] yaw=-170.5deg	[env.py: 1019]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90906542  0.52777162  0.06453014] yaw=-166.6deg	[env.py: 1019]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:48:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.4ms, total=253.5ms	[env.py: 1075]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.209, 0.065)	[env.py: 1079]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.4 deg	[env.py: 1082]
+05/10 19:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:48:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:48:42 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:48:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:48:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:48:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:48:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:48:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:48:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:48:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:48:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:48:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:48:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:48:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.903s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:48:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.501[m] 80.899[deg]	[grasp_sample.py: 539]
+05/10 19:48:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:48:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:48:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:48:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:48:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:48:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.31s (batch: 4.29s, save: 10.03s)	[pipeline.py: 300]
+05/10 19:48:46 INFO: [Worker 0] Feasibility-checked 70 grasps in 4.068s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:48:46 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.046[m] 6.613[deg]	[grasp_sample.py: 539]
+05/10 19:48:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:48:47 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.41s:
+  episode_total: mean=237.32s, total=237.32s, count=1, min=237318.8ms, max=237318.8ms
+  sensor_polling: mean=519.4ms, total=155.83s, count=300, min=426.5ms, max=720.3ms
+  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10026.3ms, max=10026.3ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=15.8ms, max=125.0ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.2ms, max=4287.2ms
+  task_sampling: mean=3.41s, total=3.41s, count=1, min=3413.0ms, max=3413.0ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
+  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
+  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
+  task_specific_sample: mean=576.5ms, total=576.5ms, count=1, min=576.5ms, max=576.5ms
+  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
+  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
+  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=653.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=40.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:48:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:48:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:48:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:48:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:48:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:48:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:48:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:48:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:48:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082266m	[env.py: 870]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:48:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13831907  1.07094622  0.08226626] yaw=-126.3deg	[env.py: 1019]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74903779  0.24424859  0.08226626] yaw=164.6deg	[env.py: 1019]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93823278  0.17281195  0.08226626] yaw=161.4deg	[env.py: 1019]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:48:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=306.4ms, total=306.5ms	[env.py: 1075]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.138, 1.071, 0.082)	[env.py: 1079]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg	[env.py: 1082]
+05/10 19:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:48:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:48:49 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:48:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:48:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:48:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:48:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.101s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:48:50 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:48:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:48:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:48:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:48:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.421[m] 92.483[deg]	[grasp_sample.py: 539]
+05/10 19:48:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:48:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:48:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:48:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:49:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:49:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:49:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:49:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.79s (batch: 4.62s, save: 9.17s)	[pipeline.py: 300]
+05/10 19:49:05 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.53s:
+  episode_total: mean=255.77s, total=255.77s, count=1, min=255768.9ms, max=255768.9ms
+  sensor_polling: mean=523.7ms, total=157.11s, count=300, min=428.4ms, max=849.4ms
+  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9167.3ms, max=9167.3ms
+  physics_step: mean=28.7ms, total=8.60s, count=300, min=14.9ms, max=93.6ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4621.6ms, max=4621.6ms
+  task_sampling: mean=3.53s, total=3.53s, count=1, min=3530.6ms, max=3530.6ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
+  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
+  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
+  task_specific_sample: mean=494.9ms, total=494.9ms, count=1, min=494.9ms, max=494.9ms
+  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
+  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
+  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
+  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=457.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=33.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:49:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:49:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:49:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:49:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:49:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:49:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:49:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:49:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:49:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043876m	[env.py: 870]
+05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:49:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00292902  1.13075295  0.04387582] yaw=-126.0deg	[env.py: 1019]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93287159  1.07000864  0.04387582] yaw=-136.3deg	[env.py: 1019]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97710951  1.01034935  0.04387582] yaw=-140.9deg	[env.py: 1019]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:49:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.0ms, total=140.1ms	[env.py: 1075]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.131, 0.044)	[env.py: 1079]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.0 deg	[env.py: 1082]
+05/10 19:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/10 19:49:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:49:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:49:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:49:07 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:49:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:49:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:49:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:49:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:49:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:49:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.557s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:49:13 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.556[m] 80.154[deg]	[grasp_sample.py: 539]
+05/10 19:49:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:49:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:49:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:49:15 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:49:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:49:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:49:39 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:49:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:49:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:49:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:49:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:49:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:49:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:49:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:49:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:49:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.07s (batch: 5.19s, save: 11.88s)	[pipeline.py: 300]
+05/10 19:49:57 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.05s:
+  episode_total: mean=152.63s, total=305.26s, count=2, min=36518.8ms, max=268737.2ms
+  sensor_polling: mean=525.2ms, total=157.55s, count=300, min=430.8ms, max=887.8ms
+  save_trajectories: mean=11.88s, total=11.88s, count=1, min=11875.0ms, max=11875.0ms
+  physics_step: mean=27.5ms, total=8.26s, count=300, min=13.3ms, max=105.7ms
+  save_batch_prep: mean=5.19s, total=5.19s, count=1, min=5192.6ms, max=5192.6ms
+  task_sampling: mean=2.03s, total=4.05s, count=2, min=687.1ms, max=3366.7ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
+  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
+  task_specific_sample: mean=560.1ms, total=1.12s, count=2, min=435.8ms, max=684.4ms
+  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
+  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
+  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
+  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
+  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.3ms, max=1.4ms
+  mj_forward_sync: mean=456.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:49:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:49:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:49:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:49:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:49:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:49:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:49:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006516m	[env.py: 870]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:49:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7688609   0.37402735  0.00651616] yaw=174.3deg	[env.py: 1019]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91988827  0.93155005  0.00651616] yaw=-158.3deg	[env.py: 1019]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73593649  0.4405686   0.00651616] yaw=169.0deg	[env.py: 1019]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:49:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.9ms, total=100.9ms	[env.py: 1075]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.374, 0.007)	[env.py: 1079]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg	[env.py: 1082]
+05/10 19:49:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:49:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:49:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:49:59 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:49:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:49:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:49:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:49:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:50:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:50:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.511[m] 94.479[deg]	[grasp_sample.py: 539]
+05/10 19:50:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:50:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:50:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:50:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:50:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:50:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:50:36 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 19:50:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:50:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:50:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:50:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:50:36 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:50:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.606[deg]	[grasp_sample.py: 539]
+05/10 19:50:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:50:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:50:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:50:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:50:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:51:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:51:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:51:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:51:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:51:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:51:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:51:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:51:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:51:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:51:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:31 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:51:31 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.297[deg]	[grasp_sample.py: 539]
+05/10 19:51:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:32 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:51:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:51:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:51:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:51:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:51:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:51:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:51:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.677[deg]	[grasp_sample.py: 539]
+05/10 19:51:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:51:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:51:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:51:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:51:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:51:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:51:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:51:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028140m	[env.py: 870]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:51:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66979452  0.40708419  0.02814017] yaw=186.7deg	[env.py: 1019]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89922956  0.9085871   0.02814017] yaw=-156.7deg	[env.py: 1019]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82580758  1.09712943  0.02814017] yaw=-136.6deg	[env.py: 1019]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:51:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms	[env.py: 1075]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.670, 0.407, 0.028)	[env.py: 1079]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.7 deg	[env.py: 1082]
+05/10 19:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:51:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:51:34 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:51:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:51:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:51:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:51:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:51:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:51:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:51:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:51:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.627[m] 97.631[deg]	[grasp_sample.py: 539]
+05/10 19:51:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:51:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:51:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:51:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:51:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:51:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:51:57 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:52:17 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:52:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:52:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:52:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:52:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:52:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:52:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:52:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:52:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.46s (batch: 4.34s, save: 13.11s)	[pipeline.py: 300]
+05/10 19:52:35 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=233.18s, total=233.18s, count=1, min=233175.8ms, max=233175.8ms
+  sensor_polling: mean=525.1ms, total=157.53s, count=300, min=456.4ms, max=1016.9ms
+  save_trajectories: mean=13.11s, total=13.11s, count=1, min=13112.4ms, max=13112.4ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.3ms, max=74.4ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.6ms, max=4344.6ms
+  task_sampling: mean=504.3ms, total=504.3ms, count=1, min=504.3ms, max=504.3ms
+  task_specific_sample: mean=499.7ms, total=499.7ms, count=1, min=499.7ms, max=499.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=586.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:52:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:52:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:52:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:52:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:52:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:52:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:52:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095905m	[env.py: 870]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:52:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0493087   1.23462005  0.09590478] yaw=-134.2deg	[env.py: 1019]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:52:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.4ms	[env.py: 1075]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.235, 0.096)	[env.py: 1079]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg	[env.py: 1082]
+05/10 19:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:52:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:52:37 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:52:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:52:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:52:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:52:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:52:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:52:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:52:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.55s (batch: 5.01s, save: 11.54s)	[pipeline.py: 300]
+05/10 19:52:39 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s:
+  episode_total: mean=212.32s, total=212.32s, count=1, min=212319.4ms, max=212319.4ms
+  sensor_polling: mean=508.1ms, total=152.43s, count=300, min=443.6ms, max=1214.5ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11543.9ms, max=11543.9ms
+  physics_step: mean=24.7ms, total=7.41s, count=300, min=17.3ms, max=99.0ms
+  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5009.2ms, max=5009.2ms
+  task_sampling: mean=452.2ms, total=452.2ms, count=1, min=452.2ms, max=452.2ms
+  task_specific_sample: mean=448.4ms, total=448.4ms, count=1, min=448.4ms, max=448.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:52:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:52:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:52:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:52:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:52:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:52:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:52:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038275m	[env.py: 870]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:52:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02022011  0.96221966  0.0382746 ] yaw=-147.8deg	[env.py: 1019]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86749705  0.84158363  0.0382746 ] yaw=-153.0deg	[env.py: 1019]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79249019  0.28872343  0.0382746 ] yaw=167.3deg	[env.py: 1019]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:52:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.2ms	[env.py: 1075]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.962, 0.038)	[env.py: 1079]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.8 deg	[env.py: 1082]
+05/10 19:52:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:52:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:52:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:52:41 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:52:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:52:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:52:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:52:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.378s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:52:42 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.587[m] 87.295[deg]	[grasp_sample.py: 539]
+05/10 19:52:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.595s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:52:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 94.371[deg]	[grasp_sample.py: 539]
+05/10 19:52:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:52:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:52:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:52:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:52:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:52:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:52:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:52:46 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:52:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:52:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:53:13 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:53:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:53:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:53:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:53:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:53:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.03s (batch: 4.59s, save: 9.44s)	[pipeline.py: 300]
+05/10 19:53:27 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.35s:
+  episode_total: mean=208.53s, total=208.53s, count=1, min=208534.2ms, max=208534.2ms
+  sensor_polling: mean=511.7ms, total=153.50s, count=300, min=429.1ms, max=816.1ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9444.1ms, max=9444.1ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=18.5ms, max=88.9ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.8ms, max=4589.8ms
+  task_sampling: mean=353.9ms, total=353.9ms, count=1, min=353.9ms, max=353.9ms
+  task_specific_sample: mean=349.9ms, total=349.9ms, count=1, min=349.9ms, max=349.9ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=410.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:53:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:53:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:53:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:53:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:53:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031138m	[env.py: 870]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89473831  0.87948054  0.03113831] yaw=-151.2deg	[env.py: 1019]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87197325  0.19232102  0.03113831] yaw=158.1deg	[env.py: 1019]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78739777  1.00895019  0.03113831] yaw=-150.9deg	[env.py: 1019]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.5ms, total=98.6ms	[env.py: 1075]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.879, 0.031)	[env.py: 1079]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
+05/10 19:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:53:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:53:30 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:53:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:53:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:53:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:53:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:53:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:53:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.466[m] 88.083[deg]	[grasp_sample.py: 539]
+05/10 19:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:53:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:53:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:53:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:53:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:53:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:53:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:54:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:54:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:54:24 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:54:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:54:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:54:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:54:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:54:45 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:54:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:54:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:54:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:54:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:54:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:54:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:54:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:54:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:54:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:54:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:54:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:54:52 INFO: [Worker 0] Feasibility-checked 80 grasps in 1.563s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:54:52 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.542[deg]	[grasp_sample.py: 539]
+05/10 19:54:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:54:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:54:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:54:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:54:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:54:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.66s (batch: 4.26s, save: 8.41s)	[pipeline.py: 300]
+05/10 19:54:58 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.02s:
+  episode_total: mean=183.92s, total=367.83s, count=2, min=163518.7ms, max=204312.5ms
+  sensor_polling: mean=518.0ms, total=296.29s, count=572, min=434.2ms, max=955.8ms
+  physics_step: mean=25.8ms, total=14.76s, count=572, min=15.4ms, max=100.7ms
+  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8405.3ms, max=8405.3ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4256.1ms, max=4256.1ms
+  task_sampling: mean=510.5ms, total=1.02s, count=2, min=396.2ms, max=624.7ms
+  task_specific_sample: mean=506.7ms, total=1.01s, count=2, min=393.1ms, max=620.3ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:55:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:55:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:55:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:55:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:55:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:55:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:55:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078190m	[env.py: 870]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:55:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02737266  0.95441478  0.07818964] yaw=-155.8deg	[env.py: 1019]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80713692  0.93130194  0.07818964] yaw=-142.6deg	[env.py: 1019]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80073957  0.25127726  0.07818964] yaw=165.1deg	[env.py: 1019]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:55:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms	[env.py: 1075]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.027, 0.954, 0.078)	[env.py: 1079]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg	[env.py: 1082]
+05/10 19:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:55:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:55:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:55:00 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:55:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:55:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:55:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:55:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:55:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:55:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 97.685[deg]	[grasp_sample.py: 539]
+05/10 19:55:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:55:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:55:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:55:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:55:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:55:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:55:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:55:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:55:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:55:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:55:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:55:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:55:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:55:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:55:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:55:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:55:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:55:43 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:55:43 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.112[deg]	[grasp_sample.py: 539]
+05/10 19:55:45 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:55:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:55:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:55:47 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:55:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:55:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:55:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:55:47 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:55:47 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:55:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:55:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063309m	[env.py: 870]
+05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:55:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68542771  0.23839162  0.06330891] yaw=165.5deg	[env.py: 1019]
+05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:55:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67650864  0.84597771  0.06330891] yaw=-169.2deg	[env.py: 1019]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93712728  0.12622628  0.06330891] yaw=162.9deg	[env.py: 1019]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:55:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=464.5ms, total=464.6ms	[env.py: 1075]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.238, 0.063)	[env.py: 1079]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg	[env.py: 1082]
+05/10 19:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/10 19:55:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:55:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:55:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:55:48 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:55:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:55:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:55:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:55:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:55:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.386s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:55:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.580[m] 87.823[deg]	[grasp_sample.py: 539]
+05/10 19:55:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:55:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:55:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:55:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:55:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:55:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:55:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:56:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:56:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:56:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:56:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:56:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.19s (batch: 4.25s, save: 8.94s)	[pipeline.py: 300]
+05/10 19:56:11 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
+  episode_total: mean=210.62s, total=210.62s, count=1, min=210620.4ms, max=210620.4ms
+  sensor_polling: mean=520.9ms, total=156.27s, count=300, min=441.3ms, max=982.0ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.9ms, max=8939.9ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=18.4ms, max=98.2ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.8ms, max=4247.8ms
+  task_sampling: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms
+  task_specific_sample: mean=451.1ms, total=451.1ms, count=1, min=451.1ms, max=451.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=412.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:56:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:56:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:56:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:56:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:56:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:56:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:56:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082422m	[env.py: 870]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:56:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71475185  0.62963193  0.08242201] yaw=-177.5deg	[env.py: 1019]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81386772  1.05705999  0.08242201] yaw=-152.1deg	[env.py: 1019]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78052028  1.01621104  0.08242201] yaw=-157.4deg	[env.py: 1019]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:56:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.3ms, total=304.3ms	[env.py: 1075]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.630, 0.082)	[env.py: 1079]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg	[env.py: 1082]
+05/10 19:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:56:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:56:14 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:56:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:56:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:56:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:56:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:56:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:56:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 93.277[deg]	[grasp_sample.py: 539]
+05/10 19:56:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:56:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:56:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:56:17 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:56:41 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:56:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 19:56:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:56:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:56:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:56:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:56:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.35s (batch: 4.52s, save: 12.84s)	[pipeline.py: 300]
+05/10 19:57:00 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
+  episode_total: mean=210.39s, total=210.39s, count=1, min=210390.2ms, max=210390.2ms
+  sensor_polling: mean=518.8ms, total=155.64s, count=300, min=425.7ms, max=992.2ms
+  save_trajectories: mean=12.84s, total=12.84s, count=1, min=12835.3ms, max=12835.3ms
+  physics_step: mean=25.0ms, total=7.50s, count=300, min=18.9ms, max=77.1ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4515.3ms, max=4515.3ms
+  task_sampling: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
+  task_specific_sample: mean=399.6ms, total=399.6ms, count=1, min=399.6ms, max=399.6ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=586.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:57:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:57:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:57:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:57:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:57:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:57:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:57:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:57:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:57:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089256m	[env.py: 870]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:57:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94317998  0.16687815  0.08925634] yaw=149.4deg	[env.py: 1019]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98944729  0.72553929  0.08925634] yaw=-152.5deg	[env.py: 1019]
+05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.3ms, total=365.4ms	[env.py: 1075]
+05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.167, 0.089)	[env.py: 1079]
+05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.4 deg	[env.py: 1082]
+05/10 19:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/10 19:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:57:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:57:02 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:57:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:57:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:57:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:57:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:57:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.682s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:57:03 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.376[m] 82.610[deg]	[grasp_sample.py: 539]
+05/10 19:57:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:57:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:57:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:57:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:57:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:57:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:57:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:57:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:57:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:57:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:57:52 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:57:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:58:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:58:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 19:58:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:58:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:58:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:58:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.75s (batch: 4.25s, save: 9.50s)	[pipeline.py: 300]
+05/10 19:58:28 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
+  episode_total: mean=207.76s, total=207.76s, count=1, min=207757.9ms, max=207757.9ms
+  sensor_polling: mean=530.1ms, total=159.03s, count=300, min=437.1ms, max=1126.9ms
+  save_trajectories: mean=9.50s, total=9.50s, count=1, min=9496.2ms, max=9496.2ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=15.8ms, max=119.4ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4253.4ms, max=4253.4ms
+  task_sampling: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms
+  task_specific_sample: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=463.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:58:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:58:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:58:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:58:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:58:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:58:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:58:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059554m	[env.py: 870]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:58:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90046365  0.67043833  0.05955435] yaw=-168.2deg	[env.py: 1019]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:58:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.7ms	[env.py: 1075]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.670, 0.060)	[env.py: 1079]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg	[env.py: 1082]
+05/10 19:58:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:58:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:58:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:58:30 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:58:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:58:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:58:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:58:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:58:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:58:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.399[m] 89.099[deg]	[grasp_sample.py: 539]
+05/10 19:58:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:58:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:58:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:58:44 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:58:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:58:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 19:58:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 19:58:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 19:58:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:58:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:58:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:58:55 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:58:55 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.162[deg]	[grasp_sample.py: 539]
+05/10 19:58:57 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:58:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:58:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:58:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:58:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:58:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:58:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:58:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012469m	[env.py: 870]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:58:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69226349  0.90674144  0.01246883] yaw=-160.7deg	[env.py: 1019]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82355689  0.0863396   0.01246883] yaw=162.3deg	[env.py: 1019]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96527915  1.21601626  0.01246883] yaw=-139.2deg	[env.py: 1019]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:58:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=161.0ms	[env.py: 1075]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.907, 0.012)	[env.py: 1079]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg	[env.py: 1082]
+05/10 19:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:59:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:59:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:59:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:59:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:59:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:59:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:59:06 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 19:59:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.226s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:59:06 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.688[m] 84.702[deg]	[grasp_sample.py: 539]
+05/10 19:59:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:59:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:59:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:59:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:59:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 19:59:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:59:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:59:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 19:59:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:59:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:59:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.80s (batch: 4.50s, save: 9.30s)	[pipeline.py: 300]
+05/10 19:59:28 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.49s:
+  episode_total: mean=204.37s, total=408.74s, count=2, min=188538.8ms, max=220197.6ms
+  sensor_polling: mean=520.9ms, total=305.25s, count=586, min=430.0ms, max=940.4ms
+  physics_step: mean=25.7ms, total=15.04s, count=586, min=16.3ms, max=81.1ms
+  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9300.7ms, max=9300.7ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.4ms, max=4496.4ms
+  task_sampling: mean=747.3ms, total=1.49s, count=2, min=496.9ms, max=997.6ms
+  task_specific_sample: mean=743.4ms, total=1.49s, count=2, min=493.1ms, max=993.7ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.9ms, max=2.6ms
+  mj_forward_sync: mean=505.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:59:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:59:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:59:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:59:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:59:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:59:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:59:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044079m	[env.py: 870]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:59:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91753044  0.36050493  0.04407938] yaw=161.8deg	[env.py: 1019]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:59:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01074433  1.01476988  0.04407938] yaw=-136.8deg	[env.py: 1019]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98221381  1.28539408  0.04407938] yaw=-124.8deg	[env.py: 1019]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:59:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.6ms, total=186.6ms	[env.py: 1075]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.361, 0.044)	[env.py: 1079]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg	[env.py: 1082]
+05/10 19:59:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
+05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:59:30 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 19:59:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 19:59:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 19:59:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:59:30 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:59:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:59:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:59:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:59:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:59:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:59:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.414[m] 101.311[deg]	[grasp_sample.py: 539]
+05/10 19:59:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:59:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:59:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 19:59:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 19:59:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 19:59:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.37s (batch: 5.91s, save: 9.46s)	[pipeline.py: 300]
+05/10 19:59:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.62s:
+  episode_total: mean=213.16s, total=213.16s, count=1, min=213164.6ms, max=213164.6ms
+  sensor_polling: mean=529.1ms, total=158.74s, count=300, min=448.3ms, max=995.4ms
+  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9458.1ms, max=9458.1ms
+  physics_step: mean=25.3ms, total=7.60s, count=300, min=17.9ms, max=86.3ms
+  save_batch_prep: mean=5.91s, total=5.91s, count=1, min=5911.8ms, max=5911.8ms
+  task_sampling: mean=620.9ms, total=620.9ms, count=1, min=620.9ms, max=620.9ms
+  task_specific_sample: mean=616.4ms, total=616.4ms, count=1, min=616.4ms, max=616.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=514.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 19:59:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:59:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:59:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:59:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:59:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:59:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:59:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036506m	[env.py: 870]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:59:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98477241  1.19896671  0.03650606] yaw=-133.1deg	[env.py: 1019]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11664319  1.03282957  0.03650606] yaw=-145.4deg	[env.py: 1019]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6947743   0.12996194  0.03650606] yaw=156.7deg	[env.py: 1019]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:59:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.4ms, total=157.4ms	[env.py: 1075]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.199, 0.037)	[env.py: 1079]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
+05/10 19:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:59:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:59:49 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:59:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:59:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:59:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:59:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:59:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:59:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.564[m] 86.473[deg]	[grasp_sample.py: 539]
+05/10 19:59:52 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 19:59:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 19:59:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 19:59:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:59:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 19:59:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 19:59:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 19:59:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035222m	[env.py: 870]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 19:59:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96538032  0.95643658  0.03522206] yaw=-147.3deg	[env.py: 1019]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79160999  0.99739721  0.03522206] yaw=-145.1deg	[env.py: 1019]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95478319  0.74202644  0.03522206] yaw=-167.0deg	[env.py: 1019]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 19:59:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.3ms, total=80.4ms	[env.py: 1075]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.956, 0.035)	[env.py: 1079]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
+05/10 19:59:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 19:59:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 19:59:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 19:59:54 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 19:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/10 19:59:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 19:59:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 19:59:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 19:59:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 19:59:55 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 92.355[deg]	[grasp_sample.py: 539]
+05/10 19:59:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 19:59:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 19:59:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:00:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:00:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:00:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:00:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:00:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:00:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:00:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:00:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:01:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:01:20 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:01:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:01:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:01:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:01:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:01:34 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.372s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:01:34 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.727[deg]	[grasp_sample.py: 539]
+05/10 20:01:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:01:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:01:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:43 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:01:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:01:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:01:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:01:51 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:01:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:01:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:01:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:01:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.93s (batch: 4.46s, save: 9.47s)	[pipeline.py: 300]
+05/10 20:01:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.58s:
+  episode_total: mean=207.74s, total=207.74s, count=1, min=207740.9ms, max=207740.9ms
+  sensor_polling: mean=526.2ms, total=157.85s, count=300, min=448.3ms, max=896.8ms
+  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9466.8ms, max=9466.8ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.0ms, max=121.9ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4460.4ms, max=4460.4ms
+  task_sampling: mean=581.0ms, total=581.0ms, count=1, min=581.0ms, max=581.0ms
+  task_specific_sample: mean=576.7ms, total=576.7ms, count=1, min=576.7ms, max=576.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=509.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:01:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:01:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:01:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:01:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:01:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:01:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:01:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022242m	[env.py: 870]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:01:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90071735  0.29349962  0.02224201] yaw=167.3deg	[env.py: 1019]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80350395  1.02410784  0.02224201] yaw=-139.5deg	[env.py: 1019]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88328612  1.0112491   0.02224201] yaw=-153.4deg	[env.py: 1019]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:01:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.8ms, total=102.8ms	[env.py: 1075]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.293, 0.022)	[env.py: 1079]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg	[env.py: 1082]
+05/10 20:01:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:01:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:02:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:02:00 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:02:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:02:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:02:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:02:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:02:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:02:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.358[m] 85.062[deg]	[grasp_sample.py: 539]
+05/10 20:02:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:02:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:02:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:02:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:02:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:02:17 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:02:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:02:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:02:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:02:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:02:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.00s (batch: 4.09s, save: 8.91s)	[pipeline.py: 300]
+05/10 20:02:31 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.24s:
+  episode_total: mean=163.50s, total=327.00s, count=2, min=115496.1ms, max=211499.2ms
+  sensor_polling: mean=512.1ms, total=247.83s, count=484, min=433.8ms, max=959.2ms
+  physics_step: mean=24.0ms, total=11.64s, count=484, min=17.7ms, max=69.5ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8908.8ms, max=8908.8ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4086.4ms, max=4086.4ms
+  task_sampling: mean=620.1ms, total=1.24s, count=2, min=535.8ms, max=704.4ms
+  task_specific_sample: mean=616.0ms, total=1.23s, count=2, min=531.8ms, max=700.2ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms
+  mj_forward_sync: mean=581.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:02:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:02:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:02:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:02:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:02:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:02:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:02:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:02:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041340m	[env.py: 870]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:02:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15695727  1.01635406  0.04134004] yaw=-143.2deg	[env.py: 1019]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:02:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93190871  0.09836322  0.04134004] yaw=153.3deg	[env.py: 1019]
+05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76304696  0.65011816  0.04134004] yaw=-180.6deg	[env.py: 1019]
+05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:02:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.3ms, total=190.3ms	[env.py: 1075]
+05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.157, 1.016, 0.041)	[env.py: 1079]
+05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg	[env.py: 1082]
+05/10 20:02:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.764m	[env.py: 1086]
+05/10 20:02:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:02:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:02:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:02:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:02:33 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:02:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:02:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:02:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:02:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:02:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:02:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.365[m] 84.628[deg]	[grasp_sample.py: 539]
+05/10 20:02:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:02:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:02:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:02:39 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:02:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:02:42 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:02:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:02:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:03:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:03:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:03:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:03:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:03:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:03:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:03:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:03:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:03:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:03:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 16.65s (batch: 4.24s, save: 12.41s)	[pipeline.py: 300]
+05/10 20:03:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:03:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:03:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 17.33s (batch: 4.34s, save: 12.98s)	[pipeline.py: 300]
+05/10 20:03:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.06s:
+  episode_total: mean=107.91s, total=215.81s, count=2, min=3803.2ms, max=212009.0ms
+  sensor_polling: mean=519.7ms, total=155.91s, count=300, min=444.9ms, max=797.8ms
+  save_trajectories: mean=12.41s, total=12.41s, count=1, min=12409.7ms, max=12409.7ms
+  physics_step: mean=25.3ms, total=7.60s, count=300, min=19.1ms, max=63.1ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.8ms, max=4239.8ms
+  task_sampling: mean=529.4ms, total=1.06s, count=2, min=381.0ms, max=677.8ms
+  task_specific_sample: mean=525.4ms, total=1.05s, count=2, min=377.7ms, max=673.1ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
+  mj_forward_sync: mean=490.2us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:03:26 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s:
+  episode_total: mean=236.10s, total=236.10s, count=1, min=236103.7ms, max=236103.7ms
+  sensor_polling: mean=526.2ms, total=157.86s, count=300, min=454.9ms, max=930.3ms
+  save_trajectories: mean=12.98s, total=12.98s, count=1, min=12983.0ms, max=12983.0ms
+  physics_step: mean=26.4ms, total=7.91s, count=300, min=13.9ms, max=70.1ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.6ms, max=4342.6ms
+  task_sampling: mean=515.0ms, total=515.0ms, count=1, min=515.0ms, max=515.0ms
+  task_specific_sample: mean=510.1ms, total=510.1ms, count=1, min=510.1ms, max=510.1ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=576.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=30.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:03:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:03:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:03:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:03:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:03:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:03:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:03:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087094m	[env.py: 870]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:03:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89367425  0.74146984  0.08709366] yaw=-154.1deg	[env.py: 1019]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:03:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:03:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9214169   0.79946207  0.08709366] yaw=-154.6deg	[env.py: 1019]
+05/10 20:03:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:03:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:03:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:03:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:03:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:03:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048792m	[env.py: 870]
+05/10 20:03:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:03:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:03:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85532954  0.77365451  0.08709366] yaw=-170.4deg	[env.py: 1019]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:03:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=363.9ms, total=363.9ms	[env.py: 1075]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.741, 0.087)	[env.py: 1079]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84791331  0.27606438  0.04879247] yaw=166.0deg	[env.py: 1019]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76904877  0.6297212   0.04879247] yaw=-169.7deg	[env.py: 1019]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68595704  0.32253765  0.04879247] yaw=171.8deg	[env.py: 1019]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:03:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:03:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:03:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=503.5ms, total=503.6ms	[env.py: 1075]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.276, 0.049)	[env.py: 1079]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg	[env.py: 1082]
+05/10 20:03:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:03:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:03:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:03:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:03:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:03:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:03:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:03:28 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:03:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:03:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:03:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:03:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:03:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:03:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.437[m] 90.822[deg]	[grasp_sample.py: 539]
+05/10 20:03:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:03:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.384[m] 82.342[deg]	[grasp_sample.py: 539]
+05/10 20:03:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:03:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:03:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:03:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:03:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:03:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:03:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:03:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:03:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:03:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:04:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:04:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:04:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:04:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:04:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:04:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:04:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:04:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:04:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:04:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:04:29 INFO: [Worker 0] Feasibility-checked 70 grasps in 0.432s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:04:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.058[m] 11.623[deg]	[grasp_sample.py: 539]
+05/10 20:04:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:04:30 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:04:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:04:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:04:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:04:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:04:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:04:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:04:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030618m	[env.py: 870]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:04:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79663588  0.55730866  0.03061809] yaw=-174.7deg	[env.py: 1019]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64269497  0.33408624  0.03061809] yaw=175.7deg	[env.py: 1019]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87379683  0.94218255  0.03061809] yaw=-152.7deg	[env.py: 1019]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:04:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.7ms	[env.py: 1075]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.557, 0.031)	[env.py: 1079]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg	[env.py: 1082]
+05/10 20:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:04:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:04:32 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:04:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:04:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:04:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:04:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:04:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:04:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.444[m] 79.998[deg]	[grasp_sample.py: 539]
+05/10 20:04:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:04:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:04:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:05:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:05:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:05:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:05:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:05:17 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.777s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:05:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.306[deg]	[grasp_sample.py: 539]
+05/10 20:05:18 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:05:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:05:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:05:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:05:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:05:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:05:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:05:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:05:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:05:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:05:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:05:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008380m	[env.py: 870]
+05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:05:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83951672  0.65309542  0.00837957] yaw=-175.5deg	[env.py: 1019]
+05/10 20:05:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94224853  0.42782171  0.00837957] yaw=181.9deg	[env.py: 1019]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9464837   0.83913166  0.00837957] yaw=-144.0deg	[env.py: 1019]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:05:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=423.1ms, total=423.2ms	[env.py: 1075]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.653, 0.008)	[env.py: 1079]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg	[env.py: 1082]
+05/10 20:05:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/10 20:05:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:05:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:05:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:05:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:05:21 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:05:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:05:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:05:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:05:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:05:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.925s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:05:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.481[m] 101.568[deg]	[grasp_sample.py: 539]
+05/10 20:05:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:05:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:05:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:05:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:05:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:05:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:05:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:05:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:05:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:05:45 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.448s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:05:45 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.911[deg]	[grasp_sample.py: 539]
+05/10 20:05:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:05:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:05:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:05:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:06:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:06:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:06:17 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:06:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:06:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:06:34 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:06:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:06:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:06:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:06:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:06:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:06:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:06:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:07:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:07:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:07:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.17s (batch: 4.80s, save: 10.37s)	[pipeline.py: 300]
+05/10 20:07:00 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.70s:
+  episode_total: mean=213.14s, total=213.14s, count=1, min=213139.9ms, max=213139.9ms
+  sensor_polling: mean=521.1ms, total=156.32s, count=300, min=448.9ms, max=900.1ms
+  save_trajectories: mean=10.37s, total=10.37s, count=1, min=10365.3ms, max=10365.3ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=15.0ms, max=67.6ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4802.9ms, max=4802.9ms
+  task_sampling: mean=696.9ms, total=696.9ms, count=1, min=696.9ms, max=696.9ms
+  task_specific_sample: mean=692.7ms, total=692.7ms, count=1, min=692.7ms, max=692.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=479.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:07:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:07:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:07:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:07:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:07:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:07:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:07:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064616m	[env.py: 870]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:07:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73888786  0.92352233  0.06461639] yaw=-144.8deg	[env.py: 1019]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80489313  0.85103879  0.06461639] yaw=-162.2deg	[env.py: 1019]
+05/10 20:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8071169  -0.00443702  0.06461639] yaw=146.2deg	[env.py: 1019]
+05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:07:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=345.7ms, total=345.8ms	[env.py: 1075]
+05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.924, 0.065)	[env.py: 1079]
+05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg	[env.py: 1082]
+05/10 20:07:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/10 20:07:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:07:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:07:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:07:03 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:07:03 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:07:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:07:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:07:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:07:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:07:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.171s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:07:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.643[m] 85.778[deg]	[grasp_sample.py: 539]
+05/10 20:07:07 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:07:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:07:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:07:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:07:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:07:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:07:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:07:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013716m	[env.py: 870]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:07:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98818644  0.91889723  0.01371619] yaw=-141.5deg	[env.py: 1019]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88640984  0.91033985  0.01371619] yaw=-163.5deg	[env.py: 1019]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87708224  0.09301418  0.01371619] yaw=156.4deg	[env.py: 1019]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:07:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.6ms, total=92.7ms	[env.py: 1075]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.919, 0.014)	[env.py: 1079]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg	[env.py: 1082]
+05/10 20:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:07:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:07:09 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:07:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:07:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:07:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:07:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:07:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:07:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 94.553[deg]	[grasp_sample.py: 539]
+05/10 20:07:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:07:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:07:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:07:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:07:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:07:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.36s (batch: 4.40s, save: 9.96s)	[pipeline.py: 300]
+05/10 20:07:13 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.82s:
+  episode_total: mean=225.86s, total=225.86s, count=1, min=225857.7ms, max=225857.7ms
+  sensor_polling: mean=529.0ms, total=158.69s, count=300, min=461.1ms, max=1055.8ms
+  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9960.4ms, max=9960.4ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=14.6ms, max=95.6ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.8ms, max=4397.8ms
+  task_sampling: mean=822.4ms, total=822.4ms, count=1, min=822.4ms, max=822.4ms
+  task_specific_sample: mean=817.4ms, total=817.4ms, count=1, min=817.4ms, max=817.4ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=634.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:07:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:07:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:07:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:07:15 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:07:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:07:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:07:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018348m	[env.py: 870]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:07:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87129868  0.73423169  0.01834826] yaw=-167.5deg	[env.py: 1019]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77306469  0.26893947  0.01834826] yaw=172.5deg	[env.py: 1019]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01722966  0.89339816  0.01834826] yaw=-147.9deg	[env.py: 1019]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:07:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.0ms	[env.py: 1075]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.734, 0.018)	[env.py: 1079]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg	[env.py: 1082]
+05/10 20:07:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:07:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:07:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:07:16 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:07:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:07:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:07:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:07:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:07:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:07:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.461[m] 100.600[deg]	[grasp_sample.py: 539]
+05/10 20:07:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:07:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:07:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:07:23 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:07:44 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:07:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:07:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:07:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:07:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:07:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:07:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.66s (batch: 3.88s, save: 8.78s)	[pipeline.py: 300]
+05/10 20:07:57 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.89s:
+  episode_total: mean=178.30s, total=356.60s, count=2, min=151046.9ms, max=205554.7ms
+  sensor_polling: mean=533.0ms, total=268.08s, count=503, min=451.2ms, max=1142.7ms
+  physics_step: mean=26.5ms, total=13.35s, count=503, min=15.4ms, max=100.0ms
+  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8777.7ms, max=8777.7ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms
+  task_sampling: mean=447.1ms, total=894.2ms, count=2, min=443.5ms, max=450.8ms
+  task_specific_sample: mean=443.6ms, total=887.1ms, count=2, min=439.7ms, max=447.5ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms
+  mj_forward_sync: mean=410.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:07:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:07:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:07:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:07:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:07:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:07:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:07:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:07:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:07:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:07:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062228m	[env.py: 870]
+05/10 20:07:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:07:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73826463  0.0036593   0.06222759] yaw=150.8deg	[env.py: 1019]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98665209  0.87555218  0.06222759] yaw=-143.8deg	[env.py: 1019]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98480775  0.70567432  0.06222759] yaw=-173.0deg	[env.py: 1019]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:08:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.1ms, total=383.1ms	[env.py: 1075]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.004, 0.062)	[env.py: 1079]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg	[env.py: 1082]
+05/10 20:08:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/10 20:08:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:08:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:08:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:08:00 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:08:00 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:08:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:08:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:08:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:08:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:08:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:08:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:08:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:08:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.675[m] 101.962[deg]	[grasp_sample.py: 539]
+05/10 20:08:06 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:08:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:08:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:08:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:08:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:08:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022432m	[env.py: 870]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79041998  0.46077208  0.02243246] yaw=168.0deg	[env.py: 1019]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71363253  0.74437145  0.02243246] yaw=-154.6deg	[env.py: 1019]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0242722   1.18575682  0.02243246] yaw=-137.7deg	[env.py: 1019]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.2ms, total=96.3ms	[env.py: 1075]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.461, 0.022)	[env.py: 1079]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg	[env.py: 1082]
+05/10 20:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:08:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:08:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:08:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:08:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:08:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.583s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:08:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.504[m] 97.914[deg]	[grasp_sample.py: 539]
+05/10 20:08:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:08:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:08:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:08:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:08:12 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:08:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:08:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:08:41 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:08:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:08:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:08:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:08:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:08:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.78s (batch: 4.71s, save: 9.07s)	[pipeline.py: 300]
+05/10 20:08:55 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.28s:
+  episode_total: mean=190.29s, total=380.58s, count=2, min=166038.3ms, max=214545.9ms
+  sensor_polling: mean=526.0ms, total=298.25s, count=567, min=451.2ms, max=998.9ms
+  physics_step: mean=25.0ms, total=14.16s, count=567, min=17.7ms, max=66.5ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9065.8ms, max=9065.8ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4714.9ms, max=4714.9ms
+  task_sampling: mean=640.5ms, total=1.28s, count=2, min=479.8ms, max=801.2ms
+  task_specific_sample: mean=636.4ms, total=1.27s, count=2, min=475.4ms, max=797.5ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=3.0ms
+  mj_forward_sync: mean=546.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=25.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:08:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:08:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:08:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:08:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:08:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:08:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:08:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016508m	[env.py: 870]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:08:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86068619  0.55693989  0.01650806] yaw=-171.6deg	[env.py: 1019]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72526702  0.50716635  0.01650806] yaw=-170.8deg	[env.py: 1019]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85204273  0.98649189  0.01650806] yaw=-140.8deg	[env.py: 1019]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:08:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=370.6ms, total=370.6ms	[env.py: 1075]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.557, 0.017)	[env.py: 1079]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg	[env.py: 1082]
+05/10 20:08:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:08:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:08:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:08:57 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:08:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:08:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:08:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:08:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:08:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.030s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:08:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.390[m] 83.052[deg]	[grasp_sample.py: 539]
+05/10 20:08:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:08:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:08:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:09:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:09:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:09:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:09:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:09:53 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:09:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:09:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:10:05 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:10:18 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:10:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:10:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:10:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:10:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:10:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:10:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:10:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:10:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.59s (batch: 4.38s, save: 9.21s)	[pipeline.py: 300]
+05/10 20:10:33 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.01s:
+  episode_total: mean=104.44s, total=208.88s, count=2, min=5203.0ms, max=203672.6ms
+  sensor_polling: mean=506.4ms, total=151.91s, count=300, min=434.7ms, max=815.0ms
+  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9209.9ms, max=9209.9ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=15.1ms, max=100.5ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.9ms, max=4379.9ms
+  task_sampling: mean=507.2ms, total=1.01s, count=2, min=373.1ms, max=641.3ms
+  task_specific_sample: mean=503.4ms, total=1.01s, count=2, min=370.1ms, max=636.6ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=488.9us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:10:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:10:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:10:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:10:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:10:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:10:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:10:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011212m	[env.py: 870]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:10:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89366691  0.57811514  0.01121235] yaw=-168.5deg	[env.py: 1019]
+05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11284958  1.19406451  0.01121235] yaw=-125.0deg	[env.py: 1019]
+05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:10:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.8ms, total=226.8ms	[env.py: 1075]
+05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.578, 0.011)	[env.py: 1079]
+05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
+05/10 20:10:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/10 20:10:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:10:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:10:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:10:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:10:35 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:10:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:10:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:10:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:10:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:10:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:10:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.373[m] 89.105[deg]	[grasp_sample.py: 539]
+05/10 20:10:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:10:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:10:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:10:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:10:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:10:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.83s (batch: 4.10s, save: 8.74s)	[pipeline.py: 300]
+05/10 20:10:40 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.53s:
+  episode_total: mean=205.22s, total=205.22s, count=1, min=205222.3ms, max=205222.3ms
+  sensor_polling: mean=522.3ms, total=156.69s, count=300, min=452.0ms, max=899.3ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.9ms, max=8735.9ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=15.8ms, max=65.5ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.4ms, max=4096.4ms
+  task_sampling: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms
+  task_specific_sample: mean=521.9ms, total=521.9ms, count=1, min=521.9ms, max=521.9ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:10:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:10:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:10:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:10:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:10:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:10:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:10:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056383m	[env.py: 870]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:10:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86354097  0.64512573  0.05638315] yaw=-161.2deg	[env.py: 1019]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02717345  1.13850148  0.05638315] yaw=-139.3deg	[env.py: 1019]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87215456  0.62337265  0.05638315] yaw=-167.1deg	[env.py: 1019]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:10:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.9ms, total=149.0ms	[env.py: 1075]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.645, 0.056)	[env.py: 1079]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg	[env.py: 1082]
+05/10 20:10:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:10:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:10:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:10:42 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:10:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:10:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:10:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:10:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:10:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.699s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:10:43 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 82.836[deg]	[grasp_sample.py: 539]
+05/10 20:10:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:10:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:10:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:10:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:10:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:10:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:10:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:10:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:10:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:10:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.410s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:10:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.204[deg]	[grasp_sample.py: 539]
+05/10 20:10:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:10:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:10:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:11:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:11:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:11:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:11:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:11:23 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:11:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:11:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:11:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:11:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:11:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:11:47 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:11:48 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:11:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:11:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:12:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:12:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:12:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.91s (batch: 4.57s, save: 9.34s)	[pipeline.py: 300]
+05/10 20:12:03 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.07s:
+  episode_total: mean=120.94s, total=241.88s, count=2, min=6396.8ms, max=235480.8ms
+  sensor_polling: mean=532.8ms, total=159.85s, count=300, min=447.9ms, max=782.6ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9337.7ms, max=9337.7ms
+  physics_step: mean=25.1ms, total=7.52s, count=300, min=14.4ms, max=57.8ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4569.3ms, max=4569.3ms
+  task_sampling: mean=536.6ms, total=1.07s, count=2, min=405.2ms, max=668.0ms
+  task_specific_sample: mean=532.6ms, total=1.07s, count=2, min=401.8ms, max=663.4ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.5ms, max=3.1ms
+  mj_forward_sync: mean=546.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:12:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:12:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:12:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:12:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:12:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:12:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:12:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015821m	[env.py: 870]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:12:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=302.8ms, total=302.8ms	[env.py: 1105]
+05/10 20:12:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 20:12:05 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 20:12:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:12:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:12:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:12:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:12:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:12:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:12:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093051m	[env.py: 870]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:12:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97801491  1.05628099  0.09305069] yaw=-146.3deg	[env.py: 1019]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90851656  0.35368098  0.09305069] yaw=171.9deg	[env.py: 1019]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79425182  0.49690505  0.09305069] yaw=-189.5deg	[env.py: 1019]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:12:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.6ms, total=415.6ms	[env.py: 1075]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.056, 0.093)	[env.py: 1079]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg	[env.py: 1082]
+05/10 20:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:12:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:12:08 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:12:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:12:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:12:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:12:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:12:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.668s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:12:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.529[m] 94.810[deg]	[grasp_sample.py: 539]
+05/10 20:12:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:12:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:12:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:12:14 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:12:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:12:14 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 20:12:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:12:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:12:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.96s (batch: 4.62s, save: 9.33s)	[pipeline.py: 300]
+05/10 20:12:29 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.74s:
+  episode_total: mean=211.91s, total=211.91s, count=1, min=211906.3ms, max=211906.3ms
+  sensor_polling: mean=522.8ms, total=156.32s, count=299, min=456.8ms, max=860.0ms
+  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9331.7ms, max=9331.7ms
+  physics_step: mean=25.2ms, total=7.55s, count=299, min=18.7ms, max=59.8ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4623.7ms, max=4623.7ms
+  task_sampling: mean=740.2ms, total=740.2ms, count=1, min=740.2ms, max=740.2ms
+  task_specific_sample: mean=731.4ms, total=731.4ms, count=1, min=731.4ms, max=731.4ms
+  mj_forward_sync: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:12:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:12:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:12:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:12:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:12:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:12:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:12:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:12:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:12:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:12:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013338m	[env.py: 870]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:12:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7570384   0.26022629  0.01333754] yaw=168.5deg	[env.py: 1019]
+05/10 20:12:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73632854  0.03981732  0.01333754] yaw=160.0deg	[env.py: 1019]
+05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:12:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms	[env.py: 1075]
+05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.260, 0.013)	[env.py: 1079]
+05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.5 deg	[env.py: 1082]
+05/10 20:12:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/10 20:12:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:12:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:12:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:12:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:12:31 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:12:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:12:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:12:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:12:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:12:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:12:33 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.522[m] 87.173[deg]	[grasp_sample.py: 539]
+05/10 20:12:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:12:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:12:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:13:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:13:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:13:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:13:27 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:13:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:13:32 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:13:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:13:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:13:49 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:13:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:13:49 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/10 20:13:53 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:13:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:13:53 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 20:14:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:14:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:14:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.99s (batch: 4.29s, save: 8.70s)	[pipeline.py: 300]
+05/10 20:14:02 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
+  episode_total: mean=208.06s, total=208.06s, count=1, min=208059.1ms, max=208059.1ms
+  sensor_polling: mean=525.2ms, total=155.98s, count=297, min=450.7ms, max=782.8ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8698.2ms, max=8698.2ms
+  physics_step: mean=26.5ms, total=7.87s, count=297, min=15.8ms, max=61.8ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4290.4ms, max=4290.4ms
+  task_sampling: mean=521.4ms, total=521.4ms, count=1, min=521.4ms, max=521.4ms
+  task_specific_sample: mean=517.9ms, total=517.9ms, count=1, min=517.9ms, max=517.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:14:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:14:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:14:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:14:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:14:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:14:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:14:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073920m	[env.py: 870]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:14:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70838269  0.56915282  0.07391988] yaw=-178.4deg	[env.py: 1019]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62519264  0.2803166   0.07391988] yaw=180.8deg	[env.py: 1019]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88792558  0.21896213  0.07391988] yaw=158.3deg	[env.py: 1019]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:14:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.5ms, total=111.5ms	[env.py: 1075]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.569, 0.074)	[env.py: 1079]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.4 deg	[env.py: 1082]
+05/10 20:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:14:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:14:04 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:14:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:14:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:14:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:14:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:14:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:14:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:14:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.41s (batch: 4.03s, save: 8.38s)	[pipeline.py: 300]
+05/10 20:14:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.668s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:14:05 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.611[m] 102.858[deg]	[grasp_sample.py: 539]
+05/10 20:14:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:14:06 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
+  episode_total: mean=203.87s, total=203.87s, count=1, min=203870.5ms, max=203870.5ms
+  sensor_polling: mean=518.9ms, total=155.15s, count=299, min=440.2ms, max=869.5ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8377.2ms, max=8377.2ms
+  physics_step: mean=25.1ms, total=7.50s, count=299, min=15.4ms, max=45.9ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.7ms, max=4029.7ms
+  task_sampling: mean=519.1ms, total=519.1ms, count=1, min=519.1ms, max=519.1ms
+  task_specific_sample: mean=514.7ms, total=514.7ms, count=1, min=514.7ms, max=514.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=504.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:14:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:14:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:14:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:14:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:14:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:14:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:14:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:14:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:14:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059493m	[env.py: 870]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:14:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88471718  0.98891332  0.05949306] yaw=-138.4deg	[env.py: 1019]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7178964   0.11882213  0.05949306] yaw=158.2deg	[env.py: 1019]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88644938  0.72659243  0.05949306] yaw=-156.5deg	[env.py: 1019]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:14:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.5ms, total=82.5ms	[env.py: 1075]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.989, 0.059)	[env.py: 1079]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg	[env.py: 1082]
+05/10 20:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:14:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:14:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:14:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:14:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:14:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:14:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:14:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:14:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.045[deg]	[grasp_sample.py: 539]
+05/10 20:14:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:14:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:14:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:14:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:14:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:14:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:15:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:15:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:15:02 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:15:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:15:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:15:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:15:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:15:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:15:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:15:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:15:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:15:30 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:15:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:15:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:15:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:15:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.65s (batch: 4.41s, save: 11.24s)	[pipeline.py: 300]
+05/10 20:15:46 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.70s:
+  episode_total: mean=109.79s, total=219.59s, count=2, min=316.6ms, max=219269.3ms
+  sensor_polling: mean=521.0ms, total=156.31s, count=300, min=444.4ms, max=1022.0ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11239.8ms, max=11239.8ms
+  physics_step: mean=25.0ms, total=7.50s, count=300, min=18.5ms, max=64.7ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.8ms, max=4411.8ms
+  task_specific_sample: mean=504.6ms, total=1.01s, count=2, min=309.7ms, max=699.4ms
+  task_sampling: mean=702.8ms, total=702.8ms, count=1, min=702.8ms, max=702.8ms
+  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.4ms, max=3.4ms
+  mj_forward_sync: mean=600.9us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:15:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:15:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:15:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:15:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:15:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:15:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:15:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061789m	[env.py: 870]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:15:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71439009  0.70118447  0.06178923] yaw=-173.1deg	[env.py: 1019]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81502998  0.44651377  0.06178923] yaw=166.7deg	[env.py: 1019]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91692036  0.1795625   0.06178923] yaw=162.7deg	[env.py: 1019]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:15:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms	[env.py: 1075]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.701, 0.062)	[env.py: 1079]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg	[env.py: 1082]
+05/10 20:15:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:15:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:15:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:15:49 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:15:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:15:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:15:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:15:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:15:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:15:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.536[m] 86.985[deg]	[grasp_sample.py: 539]
+05/10 20:15:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:15:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:15:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:15:57 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:15:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:15:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:16:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:16:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:16:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.48s (batch: 4.22s, save: 9.25s)	[pipeline.py: 300]
+05/10 20:16:11 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.63s:
+  episode_total: mean=220.61s, total=220.61s, count=1, min=220606.3ms, max=220606.3ms
+  sensor_polling: mean=526.1ms, total=157.83s, count=300, min=449.5ms, max=974.1ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9251.6ms, max=9251.6ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.2ms, max=125.1ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4223.6ms, max=4223.6ms
+  task_sampling: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms
+  task_specific_sample: mean=630.2ms, total=630.2ms, count=1, min=630.2ms, max=630.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=574.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:16:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:16:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:16:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:16:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:16:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:16:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:16:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010323m	[env.py: 870]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:16:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75624644  0.87812877  0.01032255] yaw=-156.6deg	[env.py: 1019]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09380131  0.97515665  0.01032255] yaw=-141.4deg	[env.py: 1019]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71703413  0.78134678  0.01032255] yaw=-173.6deg	[env.py: 1019]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:16:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms	[env.py: 1075]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.878, 0.010)	[env.py: 1079]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
+05/10 20:16:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:16:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:16:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:16:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:16:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:16:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:16:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:16:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:16:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:16:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.582[m] 86.379[deg]	[grasp_sample.py: 539]
+05/10 20:16:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:16:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:16:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:16:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:16:54 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:16:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:16:58 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:16:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:17:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:17:17 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:17:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:17:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:17:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:17:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:17:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:17:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:17:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:17:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:17:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:17:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.90s (batch: 4.42s, save: 8.49s)	[pipeline.py: 300]
+05/10 20:17:31 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.41s:
+  episode_total: mean=206.78s, total=206.78s, count=1, min=206779.6ms, max=206779.6ms
+  sensor_polling: mean=523.7ms, total=157.12s, count=300, min=437.9ms, max=903.5ms
+  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8485.2ms, max=8485.2ms
+  physics_step: mean=25.4ms, total=7.62s, count=300, min=15.5ms, max=88.0ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4418.8ms, max=4418.8ms
+  task_sampling: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
+  task_specific_sample: mean=410.3ms, total=410.3ms, count=1, min=410.3ms, max=410.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:17:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:17:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:17:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.24s (batch: 4.17s, save: 8.08s)	[pipeline.py: 300]
+05/10 20:17:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:17:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:17:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:17:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:17:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:17:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:17:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:17:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:17:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042313m	[env.py: 870]
+05/10 20:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:17:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10014243  1.00152518  0.04231266] yaw=-137.0deg	[env.py: 1019]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88700679  1.00929081  0.04231266] yaw=-155.9deg	[env.py: 1019]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87545255  0.14174766  0.04231266] yaw=163.3deg	[env.py: 1019]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:17:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms	[env.py: 1075]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.002, 0.042)	[env.py: 1079]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg	[env.py: 1082]
+05/10 20:17:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.795m	[env.py: 1086]
+05/10 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:17:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:17:33 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
+  episode_total: mean=205.31s, total=205.31s, count=1, min=205308.1ms, max=205308.1ms
+  sensor_polling: mean=519.3ms, total=155.80s, count=300, min=443.4ms, max=1083.2ms
+  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8077.3ms, max=8077.3ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=18.5ms, max=72.4ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4166.2ms, max=4166.2ms
+  task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
+  task_specific_sample: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:17:33 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:17:33 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:17:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:17:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:17:33 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:17:33 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:17:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:17:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.376[m] 84.547[deg]	[grasp_sample.py: 539]
+05/10 20:17:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:17:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:17:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:17:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:17:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:17:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:17:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:17:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006236m	[env.py: 870]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69326567  0.87891251  0.00623648] yaw=-163.2deg	[env.py: 1019]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67747115  0.73378534  0.00623648] yaw=-155.1deg	[env.py: 1019]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:17:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.1ms, total=256.1ms	[env.py: 1075]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.879, 0.006)	[env.py: 1079]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg	[env.py: 1082]
+05/10 20:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/10 20:17:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:17:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:17:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:17:35 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:17:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:17:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:17:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:17:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:17:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:17:37 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.658[m] 90.043[deg]	[grasp_sample.py: 539]
+05/10 20:17:38 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:17:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:17:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:17:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:17:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:17:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:17:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:17:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097137m	[env.py: 870]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:17:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02393191  0.84978143  0.09713699] yaw=-155.2deg	[env.py: 1019]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8552833   0.51619355  0.09713699] yaw=-175.2deg	[env.py: 1019]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97405118  1.1302358   0.09713699] yaw=-138.3deg	[env.py: 1019]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:17:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.0ms, total=231.1ms	[env.py: 1075]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.850, 0.097)	[env.py: 1079]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg	[env.py: 1082]
+05/10 20:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.772m	[env.py: 1086]
+05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:17:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:17:40 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:17:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:17:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:17:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:17:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:17:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.358[m] 85.103[deg]	[grasp_sample.py: 539]
+05/10 20:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:17:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:17:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:18:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:18:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:18:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:18:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:18:25 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:18:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:18:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:18:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:18:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:18:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:18:55 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:18:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:18:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:18:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.61s (batch: 4.24s, save: 8.38s)	[pipeline.py: 300]
+05/10 20:18:59 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s:
+  episode_total: mean=190.80s, total=190.80s, count=1, min=190801.9ms, max=190801.9ms
+  sensor_polling: mean=485.0ms, total=145.51s, count=300, min=441.9ms, max=796.1ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.2ms, max=8379.2ms
+  physics_step: mean=23.9ms, total=7.16s, count=300, min=18.6ms, max=66.4ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.5ms, max=4235.5ms
+  task_sampling: mean=517.7ms, total=517.7ms, count=1, min=517.7ms, max=517.7ms
+  task_specific_sample: mean=513.1ms, total=513.1ms, count=1, min=513.1ms, max=513.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=572.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:19:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:19:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:19:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:19:01 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:19:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:19:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:19:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010988m	[env.py: 870]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:19:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97231788  0.16879516  0.01098772] yaw=154.2deg	[env.py: 1019]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87106898  0.92219402  0.01098772] yaw=-162.9deg	[env.py: 1019]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:19:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.5ms, total=248.5ms	[env.py: 1075]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.169, 0.011)	[env.py: 1079]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg	[env.py: 1082]
+05/10 20:19:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.794m	[env.py: 1086]
+05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:19:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:19:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:19:01 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:19:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:19:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:19:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:19:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:19:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:19:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.342[m] 87.277[deg]	[grasp_sample.py: 539]
+05/10 20:19:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:19:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:19:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:19:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:19:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:19:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:19:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:19:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:19:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.49s (batch: 4.16s, save: 8.33s)	[pipeline.py: 300]
+05/10 20:19:29 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=196.03s, total=196.03s, count=1, min=196027.6ms, max=196027.6ms
+  sensor_polling: mean=490.4ms, total=147.11s, count=300, min=441.8ms, max=742.3ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8329.7ms, max=8329.7ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=18.2ms, max=39.8ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4160.8ms, max=4160.8ms
+  task_sampling: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms
+  task_specific_sample: mean=485.9ms, total=485.9ms, count=1, min=485.9ms, max=485.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=528.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:19:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:19:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:19:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:19:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:19:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085264m	[env.py: 870]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0040099   0.89896518  0.0852638 ] yaw=-158.4deg	[env.py: 1019]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms	[env.py: 1075]
+05/10 20:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.899, 0.085)	[env.py: 1079]
+05/10 20:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg	[env.py: 1082]
+05/10 20:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/10 20:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:19:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:19:31 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:19:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:19:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:19:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:19:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:19:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.441[m] 93.968[deg]	[grasp_sample.py: 539]
+05/10 20:19:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:19:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:19:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:19:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:19:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:19:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:19:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:19:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:19:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:19:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:20:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:20:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:20:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:20:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:20:07 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:20:07 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.302[deg]	[grasp_sample.py: 539]
+05/10 20:20:08 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:20:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:20:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:20:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:20:10 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:20:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:20:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:20:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073074m	[env.py: 870]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:20:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94354237  1.2767228   0.07307385] yaw=-133.3deg	[env.py: 1019]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06686693  0.9350509   0.07307385] yaw=-140.0deg	[env.py: 1019]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06684785  1.09776606  0.07307385] yaw=-127.3deg	[env.py: 1019]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:20:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.5ms	[env.py: 1075]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.944, 1.277, 0.073)	[env.py: 1079]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg	[env.py: 1082]
+05/10 20:20:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:20:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:20:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:20:10 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:20:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:20:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:20:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:20:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:20:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.565s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 20:20:12 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 20:20:13 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:20:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:20:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:20:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:20:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:20:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:20:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:20:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095677m	[env.py: 870]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:20:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72989409  0.58238703  0.09567691] yaw=-165.5deg	[env.py: 1019]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87669165  0.10260941  0.09567691] yaw=166.0deg	[env.py: 1019]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00511136  1.06358392  0.09567691] yaw=-132.6deg	[env.py: 1019]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:20:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.8ms, total=181.8ms	[env.py: 1075]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.582, 0.096)	[env.py: 1079]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg	[env.py: 1082]
+05/10 20:20:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:20:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:20:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:20:14 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:20:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:20:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:20:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:20:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:20:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:20:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:20:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.573[m] 97.970[deg]	[grasp_sample.py: 539]
+05/10 20:20:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:20:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:20:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:20:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:20:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:33 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:20:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:20:33 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/10 20:20:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:20:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:20:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.92s (batch: 4.26s, save: 8.65s)	[pipeline.py: 300]
+05/10 20:20:47 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
+  episode_total: mean=95.32s, total=190.63s, count=2, min=3476.5ms, max=187155.9ms
+  sensor_polling: mean=486.8ms, total=142.64s, count=293, min=453.7ms, max=749.3ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8652.9ms, max=8652.9ms
+  physics_step: mean=22.6ms, total=6.63s, count=293, min=16.6ms, max=55.9ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4262.4ms, max=4262.4ms
+  task_sampling: mean=538.3ms, total=1.08s, count=2, min=521.0ms, max=555.6ms
+  task_specific_sample: mean=534.5ms, total=1.07s, count=2, min=517.9ms, max=551.1ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=445.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:20:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:20:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:20:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:20:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:20:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:20:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:20:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080733m	[env.py: 870]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:20:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8959144   0.39965657  0.08073316] yaw=176.8deg	[env.py: 1019]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81870014  0.53109804  0.08073316] yaw=-181.0deg	[env.py: 1019]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6482055   0.50628574  0.08073316] yaw=-188.7deg	[env.py: 1019]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:20:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.6ms, total=127.6ms	[env.py: 1075]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.400, 0.081)	[env.py: 1079]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg	[env.py: 1082]
+05/10 20:20:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:20:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:20:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:20:49 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:20:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:20:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:20:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:20:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:20:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:20:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.342[m] 85.876[deg]	[grasp_sample.py: 539]
+05/10 20:20:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:20:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:20:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:21:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:21:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:21:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:21:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:21:02 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:21:02 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.022[m] 1.421[deg]	[grasp_sample.py: 539]
+05/10 20:21:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:21:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:21:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:21:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:21:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:21:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:21:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:21:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:21:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:21:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:21:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:21:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:21:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:21:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:21:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:21:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:21:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:21:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:21:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:21:46 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.952[deg]	[grasp_sample.py: 539]
+05/10 20:21:48 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:21:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:21:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:21:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:21:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:21:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:21:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:21:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091143m	[env.py: 870]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:21:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6681564   0.63475783  0.09114342] yaw=-172.1deg	[env.py: 1019]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86639419  0.93005089  0.09114342] yaw=-162.7deg	[env.py: 1019]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9244916   0.19179997  0.09114342] yaw=161.1deg	[env.py: 1019]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:21:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.9ms	[env.py: 1075]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.668, 0.635, 0.091)	[env.py: 1079]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg	[env.py: 1082]
+05/10 20:21:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:21:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:21:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:21:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:21:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:21:50 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:21:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:21:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:21:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:21:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:21:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:21:51 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.600[m] 85.611[deg]	[grasp_sample.py: 539]
+05/10 20:21:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:21:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:21:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:22:06 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:22:27 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:22:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:22:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:22:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:22:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:22:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:22:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:22:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:22:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:22:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:22:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:22:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:22:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:22:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:22:39 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.570[deg]	[grasp_sample.py: 539]
+05/10 20:22:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:22:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:22:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.65s (batch: 3.85s, save: 8.80s)	[pipeline.py: 300]
+05/10 20:22:40 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.54s:
+  episode_total: mean=189.58s, total=189.58s, count=1, min=189584.0ms, max=189584.0ms
+  sensor_polling: mean=483.9ms, total=145.17s, count=300, min=440.3ms, max=757.0ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8798.1ms, max=8798.1ms
+  physics_step: mean=22.8ms, total=6.85s, count=300, min=16.5ms, max=32.2ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3851.9ms, max=3851.9ms
+  task_sampling: mean=542.1ms, total=542.1ms, count=1, min=542.1ms, max=542.1ms
+  task_specific_sample: mean=537.9ms, total=537.9ms, count=1, min=537.9ms, max=537.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=426.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:22:40 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:22:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:22:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:22:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:22:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:22:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035040m	[env.py: 870]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92690517  1.23730249  0.03504019] yaw=-131.7deg	[env.py: 1019]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76643389  0.89484973  0.03504019] yaw=-149.3deg	[env.py: 1019]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79517288  1.09174037  0.03504019] yaw=-139.7deg	[env.py: 1019]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:22:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.7ms	[env.py: 1075]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 1.237, 0.035)	[env.py: 1079]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg	[env.py: 1082]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:22:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:22:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:22:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:22:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:22:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:22:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:22:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039093m	[env.py: 870]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:22:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65915256  0.1350582   0.03909308] yaw=162.1deg	[env.py: 1019]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92861816  0.4686103   0.03909308] yaw=182.2deg	[env.py: 1019]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85250587  1.11219742  0.03909308] yaw=-154.3deg	[env.py: 1019]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:22:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=169.9ms	[env.py: 1075]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.135, 0.039)	[env.py: 1079]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg	[env.py: 1082]
+05/10 20:22:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:22:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:22:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:22:42 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:22:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:22:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:22:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:22:42 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:22:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:22:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:22:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:22:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:22:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:22:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.136s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:22:43 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.699[m] 103.046[deg]	[grasp_sample.py: 539]
+05/10 20:22:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:22:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.591s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 20:22:44 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 20:22:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:22:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:22:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:22:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:22:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:22:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:22:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:22:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:22:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:22:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:22:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:22:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091219m	[env.py: 870]
+05/10 20:22:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:22:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:46 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97790168  0.26433194  0.09121896] yaw=171.7deg	[env.py: 1019]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95438997  0.56836061  0.09121896] yaw=-183.5deg	[env.py: 1019]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:22:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=287.2ms, total=287.3ms	[env.py: 1075]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.264, 0.091)	[env.py: 1079]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg	[env.py: 1082]
+05/10 20:22:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/10 20:22:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:22:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:22:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:22:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:22:46 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:22:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:22:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:22:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:22:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:22:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:22:47 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.340[m] 91.883[deg]	[grasp_sample.py: 539]
+05/10 20:22:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:22:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:22:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:22:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:23:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:23:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:23:07 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:23:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:23:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:23:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:23:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:23:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.66s (batch: 4.42s, save: 9.24s)	[pipeline.py: 300]
+05/10 20:23:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:23:21 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.29s:
+  episode_total: mean=115.09s, total=345.27s, count=3, min=2067.7ms, max=187431.5ms
+  sensor_polling: mean=471.1ms, total=275.12s, count=584, min=440.0ms, max=752.2ms
+  physics_step: mean=22.2ms, total=12.95s, count=584, min=16.6ms, max=61.6ms
+  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9240.6ms, max=9240.6ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.5ms, max=4420.5ms
+  task_sampling: mean=430.8ms, total=1.29s, count=3, min=400.4ms, max=449.3ms
+  task_specific_sample: mean=427.2ms, total=1.28s, count=3, min=397.3ms, max=445.5ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=426.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:23:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:23:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:23:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:23:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:23:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:23:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:23:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071713m	[env.py: 870]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:23:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02307979  1.25787344  0.0717127 ] yaw=-130.8deg	[env.py: 1019]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69164089  0.46860799  0.0717127 ] yaw=190.5deg	[env.py: 1019]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74155942  0.53923079  0.0717127 ] yaw=-175.1deg	[env.py: 1019]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:23:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.3ms	[env.py: 1075]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.023, 1.258, 0.072)	[env.py: 1079]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
+05/10 20:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:23:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:23:23 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:23:23 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:23:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:23:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:23:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:23:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:23:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.108s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:23:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.651[m] 93.763[deg]	[grasp_sample.py: 539]
+05/10 20:23:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:23:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:23:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:23:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:23:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:23:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:24:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:24:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:24:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:24:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:24:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:24:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:24:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:24:17 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:24:17 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.490[deg]	[grasp_sample.py: 539]
+05/10 20:24:18 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:24:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:24:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:24:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:24:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:24:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:24:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:24:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051210m	[env.py: 870]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:24:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73767431  0.96751507  0.05120979] yaw=-161.6deg	[env.py: 1019]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77028222  0.99801373  0.05120979] yaw=-157.8deg	[env.py: 1019]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78661525  0.30099203  0.05120979] yaw=157.6deg	[env.py: 1019]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:24:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.6ms	[env.py: 1075]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.968, 0.051)	[env.py: 1079]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg	[env.py: 1082]
+05/10 20:24:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:24:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:24:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:24:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:24:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:24:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:24:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:24:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:24:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.716s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:24:23 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.653[m] 86.753[deg]	[grasp_sample.py: 539]
+05/10 20:24:23 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:24:24 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:24:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:24:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:24:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:24:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:24:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:24:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:24:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021149m	[env.py: 870]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:24:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8639952   0.71136026  0.02114949] yaw=-158.6deg	[env.py: 1019]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88837796  0.76345529  0.02114949] yaw=-151.7deg	[env.py: 1019]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70002424  0.54065946  0.02114949] yaw=-176.5deg	[env.py: 1019]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:24:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.7ms	[env.py: 1075]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.711, 0.021)	[env.py: 1079]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.6 deg	[env.py: 1082]
+05/10 20:24:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:24:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:24:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:24:26 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:24:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:24:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:24:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:24:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:24:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:24:27 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 86.908[deg]	[grasp_sample.py: 539]
+05/10 20:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:24:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:24:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:24:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:24:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:24:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:49 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:24:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:24:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:24:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:24:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:24:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:24:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:24:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:24:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:24:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:24:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.184[deg]	[grasp_sample.py: 539]
+05/10 20:24:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:24:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:24:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:25:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:25:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:25:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:25:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.39s (batch: 4.40s, save: 9.99s)	[pipeline.py: 300]
+05/10 20:25:05 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.98s:
+  episode_total: mean=181.21s, total=362.43s, count=2, min=166958.1ms, max=195467.5ms
+  sensor_polling: mean=482.2ms, total=265.22s, count=550, min=438.7ms, max=855.9ms
+  physics_step: mean=22.1ms, total=12.13s, count=550, min=15.6ms, max=64.6ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9993.9ms, max=9993.9ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.4ms, max=4398.4ms
+  task_sampling: mean=488.3ms, total=976.5ms, count=2, min=413.0ms, max=563.5ms
+  task_specific_sample: mean=484.8ms, total=969.5ms, count=2, min=409.6ms, max=559.9ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
+  mj_forward_sync: mean=438.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:25:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:25:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:25:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:25:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097386m	[env.py: 870]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12791297  1.00729256  0.09738632] yaw=-138.6deg	[env.py: 1019]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85027696  0.30447728  0.09738632] yaw=167.4deg	[env.py: 1019]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.16117418  1.05788775  0.09738632] yaw=-142.9deg	[env.py: 1019]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.0ms, total=247.0ms	[env.py: 1075]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.128, 1.007, 0.097)	[env.py: 1079]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
+05/10 20:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:25:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:25:07 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:25:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:25:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:25:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:25:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:25:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:25:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 75.979[deg]	[grasp_sample.py: 539]
+05/10 20:25:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:25:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:25:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:25:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:25:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:25:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:25:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:25:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:25:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:25:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:25:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:25:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:25:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:25:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:25:43 INFO: [Worker 0] Feasibility-checked 82 grasps in 3.870s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 20:25:43 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 20:25:43 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 20:25:43 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.87s:
+  episode_total: mean=146.33s, total=292.66s, count=2, min=111387.6ms, max=181271.8ms
+  sensor_polling: mean=497.3ms, total=244.67s, count=492, min=445.8ms, max=847.8ms
+  physics_step: mean=23.8ms, total=11.70s, count=492, min=14.5ms, max=81.0ms
+  task_sampling: mean=435.2ms, total=870.3ms, count=2, min=420.0ms, max=450.4ms
+  task_specific_sample: mean=431.1ms, total=862.3ms, count=2, min=416.3ms, max=446.0ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=2.0ms, max=2.4ms
+  mj_forward_sync: mean=552.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:25:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:25:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:25:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:25:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:25:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021879m	[env.py: 870]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:25:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:25:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:25:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:25:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:25:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:25:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:25:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:25:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076943m	[env.py: 870]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:25:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69991331  0.91144182  0.0769429 ] yaw=-150.5deg	[env.py: 1019]
+05/10 20:25:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80950004  0.57543817  0.0769429 ] yaw=-163.1deg	[env.py: 1019]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91463289  0.15407389  0.0769429 ] yaw=146.9deg	[env.py: 1019]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=712.4ms, total=712.5ms	[env.py: 1075]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.911, 0.077)	[env.py: 1079]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/10 20:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/10 20:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=967.5ms, total=967.6ms	[env.py: 1105]
+05/10 20:25:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 20:25:46 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 20:25:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:25:46 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:25:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.150s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:25:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:25:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:25:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:25:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:25:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:25:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:25:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:25:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:25:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:25:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076463m	[env.py: 870]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:25:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8200157   0.55872999  0.07646286] yaw=-185.4deg	[env.py: 1019]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83766805  1.12004051  0.07646286] yaw=-135.2deg	[env.py: 1019]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20940059  1.08617365  0.07646286] yaw=-125.0deg	[env.py: 1019]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms	[env.py: 1075]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.559, 0.076)	[env.py: 1079]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -185.4 deg	[env.py: 1082]
+05/10 20:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:25:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:25:49 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:25:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:25:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:25:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:25:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:25:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:25:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.994s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:25:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.672[m] 94.128[deg]	[grasp_sample.py: 539]
+05/10 20:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:25:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:25:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 88.165[deg]	[grasp_sample.py: 539]
+05/10 20:25:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:25:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:25:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:25:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:25:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:26:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:26:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:26:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:26:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:26:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:27:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:27:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:27:19 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:27:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:27:39 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:27:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:27:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:27:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:27:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:27:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:27:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:27:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:27:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:27:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:27:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:27:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:27:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:27:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:27:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.53s (batch: 4.18s, save: 8.35s)	[pipeline.py: 300]
+05/10 20:27:52 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.95s:
+  episode_total: mean=76.36s, total=305.44s, count=4, min=2247.4ms, max=206557.4ms
+  sensor_polling: mean=519.2ms, total=234.69s, count=452, min=450.6ms, max=1042.7ms
+  physics_step: mean=25.2ms, total=11.40s, count=452, min=16.3ms, max=97.7ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.2ms, max=8350.2ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.7ms, max=4176.7ms
+  task_sampling: mean=487.9ms, total=1.95s, count=4, min=398.8ms, max=577.9ms
+  task_specific_sample: mean=484.4ms, total=1.94s, count=4, min=395.8ms, max=574.6ms
+  scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=435.6us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:27:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:27:53 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.326[deg]	[grasp_sample.py: 539]
+05/10 20:27:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:27:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:27:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:27:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:27:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:27:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:27:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059389m	[env.py: 870]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:27:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78990939  0.83772471  0.05938926] yaw=-150.5deg	[env.py: 1019]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01370978  1.11908092  0.05938926] yaw=-135.2deg	[env.py: 1019]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91766541  0.97892175  0.05938926] yaw=-143.8deg	[env.py: 1019]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:27:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.6ms	[env.py: 1075]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.838, 0.059)	[env.py: 1079]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/10 20:27:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:27:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:27:55 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:27:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:27:55 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:27:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:27:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:27:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:27:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:27:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.312s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:27:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.556[m] 89.059[deg]	[grasp_sample.py: 539]
+05/10 20:27:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:27:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:27:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:27:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:27:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:27:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:27:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:27:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083428m	[env.py: 870]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:27:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:27:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:27:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89933503  0.86665457  0.0834276 ] yaw=-161.6deg	[env.py: 1019]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69978329  0.70979182  0.0834276 ] yaw=-160.0deg	[env.py: 1019]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87381205  0.15941204  0.0834276 ] yaw=153.7deg	[env.py: 1019]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:27:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=523.4ms, total=523.5ms	[env.py: 1075]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.867, 0.083)	[env.py: 1079]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg	[env.py: 1082]
+05/10 20:27:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:27:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:27:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:27:58 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:27:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:27:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:27:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:27:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:27:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.599s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:27:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.459[m] 91.132[deg]	[grasp_sample.py: 539]
+05/10 20:27:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:28:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:28:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:28:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:28:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:28:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:28:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:28:18 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:28:18 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.166[deg]	[grasp_sample.py: 539]
+05/10 20:28:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:28:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:28:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:28:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:28:35 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:28:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:28:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:28:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:29:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:29:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:29:02 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:29:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:29:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:29:03 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 20:29:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:29:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:29:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:29:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:29:04 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.004s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:29:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.117[m] 2.408[deg]	[grasp_sample.py: 539]
+05/10 20:29:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:29:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:29:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:29:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:29:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:29:16 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 20:29:16 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=False episode_total=1.28s:
+  episode_total: mean=116.46s, total=349.39s, count=3, min=1000.1ms, max=208372.2ms
+  sensor_polling: mean=510.6ms, total=267.03s, count=523, min=445.1ms, max=929.4ms
+  physics_step: mean=24.7ms, total=12.90s, count=523, min=16.8ms, max=109.9ms
+  task_specific_sample: mean=748.8ms, total=2.25s, count=3, min=458.6ms, max=972.9ms
+  task_sampling: mean=640.8ms, total=1.28s, count=2, min=462.2ms, max=819.4ms
+  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=506.1us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:29:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:29:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:29:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:29:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 15.31s (batch: 6.02s, save: 9.29s)	[pipeline.py: 300]
+05/10 20:29:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.09s:
+  episode_total: mean=212.85s, total=212.85s, count=1, min=212846.1ms, max=212846.1ms
+  sensor_polling: mean=515.9ms, total=154.77s, count=300, min=439.8ms, max=990.5ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.3ms, max=9289.3ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=15.3ms, max=114.3ms
+  save_batch_prep: mean=6.02s, total=6.02s, count=1, min=6019.5ms, max=6019.5ms
+  task_sampling: mean=1.09s, total=1.09s, count=1, min=1089.6ms, max=1089.6ms
+  task_specific_sample: mean=1.09s, total=1.09s, count=1, min=1085.1ms, max=1085.1ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=631.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:29:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:29:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:29:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:29:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:29:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:29:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:29:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:29:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:29:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:29:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004707m	[env.py: 870]
+05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:29:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:29:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90903105  0.28436941  0.004707  ] yaw=170.1deg	[env.py: 1019]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14213062  1.00954712  0.004707  ] yaw=-125.8deg	[env.py: 1019]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98385513  0.17704352  0.004707  ] yaw=160.1deg	[env.py: 1019]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:29:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=460.1ms, total=460.2ms	[env.py: 1075]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.284, 0.005)	[env.py: 1079]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg	[env.py: 1082]
+05/10 20:29:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/10 20:29:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:29:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:29:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:29:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:29:19 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:29:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:29:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:29:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:29:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:29:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:29:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:29:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:29:20 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:29:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:29:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:29:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061030m	[env.py: 870]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:29:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87587662  0.07695893  0.06103033] yaw=154.5deg	[env.py: 1019]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68943176  0.66044492  0.06103033] yaw=-180.6deg	[env.py: 1019]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17400029  1.13292563  0.06103033] yaw=-127.8deg	[env.py: 1019]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:29:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.8ms	[env.py: 1075]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.077, 0.061)	[env.py: 1079]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.5 deg	[env.py: 1082]
+05/10 20:29:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:29:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:29:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:29:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.406[m] 97.202[deg]	[grasp_sample.py: 539]
+05/10 20:29:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:29:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:29:20 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:29:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:29:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:29:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:29:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:29:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:29:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:29:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:29:22 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.466[m] 79.994[deg]	[grasp_sample.py: 539]
+05/10 20:29:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:29:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:29:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:30:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:30:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:30:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:30:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:30:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:30:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:30:48 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:30:48 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:31:09 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:31:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:31:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:31:10 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:31:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:31:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:31:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:31:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:31:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.65s (batch: 4.19s, save: 10.46s)	[pipeline.py: 300]
+05/10 20:31:24 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.58s:
+  episode_total: mean=210.00s, total=210.00s, count=1, min=210001.9ms, max=210001.9ms
+  sensor_polling: mean=532.8ms, total=159.83s, count=300, min=449.6ms, max=1004.7ms
+  save_trajectories: mean=10.46s, total=10.46s, count=1, min=10461.8ms, max=10461.8ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=18.0ms, max=98.6ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.2ms, max=4188.2ms
+  task_sampling: mean=576.1ms, total=576.1ms, count=1, min=576.1ms, max=576.1ms
+  task_specific_sample: mean=571.0ms, total=571.0ms, count=1, min=571.0ms, max=571.0ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=619.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:31:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:31:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:31:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.53s (batch: 4.31s, save: 10.22s)	[pipeline.py: 300]
+05/10 20:31:25 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=1.37s:
+  episode_total: mean=188.08s, total=376.16s, count=2, min=167820.9ms, max=208339.1ms
+  sensor_polling: mean=521.8ms, total=300.01s, count=575, min=442.4ms, max=968.0ms
+  physics_step: mean=26.1ms, total=15.02s, count=575, min=18.2ms, max=113.4ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10216.7ms, max=10216.7ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.8ms, max=4311.8ms
+  task_sampling: mean=684.1ms, total=1.37s, count=2, min=559.6ms, max=808.7ms
+  task_specific_sample: mean=676.4ms, total=1.35s, count=2, min=555.7ms, max=797.1ms
+  scene_randomize: mean=6.1ms, total=12.1ms, count=2, min=2.5ms, max=9.6ms
+  mj_forward_sync: mean=538.5us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:31:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:31:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:31:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:31:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:31:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:31:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:31:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012497m	[env.py: 870]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:31:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70668854  0.85565068  0.01249682] yaw=-164.7deg	[env.py: 1019]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87570034  0.12019713  0.01249682] yaw=149.7deg	[env.py: 1019]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.997197    1.17193451  0.01249682] yaw=-133.5deg	[env.py: 1019]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:31:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=329.6ms, total=329.7ms	[env.py: 1075]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.856, 0.012)	[env.py: 1079]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg	[env.py: 1082]
+05/10 20:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:31:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:31:26 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:31:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:31:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:31:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:31:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:31:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:31:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:31:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:31:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058882m	[env.py: 870]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:31:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08819506  0.97536592  0.05888197] yaw=-147.3deg	[env.py: 1019]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09744337  1.00202373  0.05888197] yaw=-133.6deg	[env.py: 1019]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92629682  0.29605768  0.05888197] yaw=167.8deg	[env.py: 1019]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.0ms, total=179.1ms	[env.py: 1075]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.088, 0.975, 0.059)	[env.py: 1079]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
+05/10 20:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.788m	[env.py: 1086]
+05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:31:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:31:27 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:31:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:31:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:31:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:31:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:31:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.350[m] 80.596[deg]	[grasp_sample.py: 539]
+05/10 20:31:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:31:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:31:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:31:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.874s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:31:29 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.659[m] 90.006[deg]	[grasp_sample.py: 539]
+05/10 20:31:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:31:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:31:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:31:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:31:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:31:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:31:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:31:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:31:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:31:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:31:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:31:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:31:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:31:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:31:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:31:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:31:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:31:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.625[deg]	[grasp_sample.py: 539]
+05/10 20:31:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:31:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:31:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:32:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:32:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:32:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:32:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:32:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:32:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:32:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:32:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:32:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:32:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:32:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.095s, found 72 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:32:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:32:25 INFO: [Worker 0] Feasibility-checked 72 grasps in 1.081s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:32:25 INFO: [Worker 0] Feasible grasp found 48 (originally 48): w/ 0.022[m] 2.323[deg]	[grasp_sample.py: 539]
+05/10 20:32:27 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:32:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:32:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:32:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002786m	[env.py: 870]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0424516   1.14962844  0.00278648] yaw=-130.8deg	[env.py: 1019]
+05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76309927 -0.02563752  0.00278648] yaw=161.1deg	[env.py: 1019]
+05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:32:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=351.7ms, total=351.8ms	[env.py: 1075]
+05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.150, 0.003)	[env.py: 1079]
+05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg	[env.py: 1082]
+05/10 20:32:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/10 20:32:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:32:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:32:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:32:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:32:30 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:32:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:32:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:32:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:32:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.357s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:32:33 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.529[m] 87.157[deg]	[grasp_sample.py: 539]
+05/10 20:32:35 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:32:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:32:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:32:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:32:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:32:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:32:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:32:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014864m	[env.py: 870]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:32:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89250689  1.00411072  0.01486406] yaw=-150.5deg	[env.py: 1019]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69865653  0.05965753  0.01486406] yaw=151.5deg	[env.py: 1019]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69817857  0.62716     0.01486406] yaw=-182.2deg	[env.py: 1019]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:32:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.7ms, total=261.7ms	[env.py: 1075]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 1.004, 0.015)	[env.py: 1079]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg	[env.py: 1082]
+05/10 20:32:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:32:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:32:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:32:37 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:32:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:32:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:32:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:32:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:32:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:32:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 95.144[deg]	[grasp_sample.py: 539]
+05/10 20:32:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:32:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:32:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:32:42 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:32:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:32:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:33:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:33:11 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:33:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:33:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:33:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:33:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:33:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 14.91s (batch: 4.37s, save: 10.54s)	[pipeline.py: 300]
+05/10 20:33:27 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.80s:
+  episode_total: mean=249.07s, total=249.07s, count=1, min=249068.6ms, max=249068.6ms
+  sensor_polling: mean=519.9ms, total=155.97s, count=300, min=447.4ms, max=1084.5ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.5ms, max=10538.5ms
+  physics_step: mean=26.1ms, total=7.82s, count=300, min=14.6ms, max=119.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
+  task_sampling: mean=801.6ms, total=801.6ms, count=1, min=801.6ms, max=801.6ms
+  task_specific_sample: mean=797.6ms, total=797.6ms, count=1, min=797.6ms, max=797.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=568.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:33:29 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/10 20:33:29 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/10 20:33:29 INFO: [Worker 0] Worker 0 completed house 1: 11/12 successful episodes	[pipeline.py: 1323]
+05/10 20:33:29 INFO: [Worker 0] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5280.23s
+  House averages:
+  episode_total: mean=160.46s, total=2888.27s, count=18, min=1000.1ms, max=255768.9ms
+  sensor_polling: mean=511.7ms, total=2099.92s, count=4104, min=428.4ms, max=1214.5ms
+  save_trajectories: mean=9.82s, total=108.06s, count=11, min=8485.2ms, max=12409.7ms
+  physics_step: mean=25.1ms, total=102.93s, count=4104, min=14.6ms, max=119.6ms
+  save_batch_prep: mean=4.61s, total=50.71s, count=11, min=4239.8ms, max=5911.8ms
+  task_sampling: mean=714.1ms, total=12.14s, count=17, min=373.1ms, max=3530.6ms
+  task_specific_sample: mean=556.4ms, total=10.01s, count=18, min=370.1ms, max=972.9ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
+  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
+  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
+  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
+  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
+  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.2ms, max=3.2ms
+  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
+  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=471.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 20:33:29 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 20:33:29 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5280.23s
+  Worker averages:
+  episode_total: mean=160.46s, total=2888.27s, count=18, min=1000.1ms, max=255768.9ms
+  sensor_polling: mean=511.7ms, total=2099.92s, count=4104, min=428.4ms, max=1214.5ms
+  save_trajectories: mean=9.82s, total=108.06s, count=11, min=8485.2ms, max=12409.7ms
+  physics_step: mean=25.1ms, total=102.93s, count=4104, min=14.6ms, max=119.6ms
+  save_batch_prep: mean=4.61s, total=50.71s, count=11, min=4239.8ms, max=5911.8ms
+  task_sampling: mean=714.1ms, total=12.14s, count=17, min=373.1ms, max=3530.6ms
+  task_specific_sample: mean=556.4ms, total=10.01s, count=18, min=370.1ms, max=972.9ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
+  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
+  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
+  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
+  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
+  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.2ms, max=3.2ms
+  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
+  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=471.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 20:33:33 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 20:33:33 INFO: Success count: 11, Total count: 12	[pipeline.py: 1491]
+05/10 20:33:33 INFO: Success rate: 91.67%	[pipeline.py: 1492]
+05/10 20:33:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:33:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:33:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:34:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:34:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:34:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:34:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:34:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:34:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:34:18 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:34:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:34:19 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.383[deg]	[grasp_sample.py: 539]
+05/10 20:34:20 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:34:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:34:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:34:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:34:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:34:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:34:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:34:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076924m	[env.py: 870]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:34:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85179338  1.11549054  0.07692415] yaw=-137.2deg	[env.py: 1019]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06781323  0.95328039  0.07692415] yaw=-149.3deg	[env.py: 1019]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12076845  0.97653856  0.07692415] yaw=-135.8deg	[env.py: 1019]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:34:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.7ms, total=155.7ms	[env.py: 1075]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.115, 0.077)	[env.py: 1079]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg	[env.py: 1082]
+05/10 20:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:34:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:34:22 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:34:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:34:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:34:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:34:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:34:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:34:24 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.657[m] 96.158[deg]	[grasp_sample.py: 539]
+05/10 20:34:25 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:34:26 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/10 20:34:26 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/10 20:34:26 INFO: [Worker 0] Worker 0 completed house 1: 10/10 successful episodes	[pipeline.py: 1323]
+05/10 20:34:26 INFO: [Worker 0] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5433.29s
+  House averages:
+  episode_total: mean=163.57s, total=2944.33s, count=18, min=316.6ms, max=237318.8ms
+  sensor_polling: mean=516.8ms, total=2213.86s, count=4284, min=426.5ms, max=1142.7ms
+  physics_step: mean=25.3ms, total=108.29s, count=4284, min=14.4ms, max=132.4ms
+  save_trajectories: mean=9.53s, total=95.34s, count=10, min=8379.2ms, max=11239.8ms
+  save_batch_prep: mean=4.31s, total=43.07s, count=10, min=3882.2ms, max=4569.3ms
+  task_sampling: mean=704.6ms, total=11.98s, count=17, min=396.2ms, max=3413.0ms
+  task_specific_sample: mean=521.3ms, total=9.38s, count=18, min=309.7ms, max=797.1ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
+  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
+  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
+  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
+  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
+  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
+  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=9.6ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  mj_forward_sync: mean=506.6us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=20.3us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 20:34:27 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 20:34:27 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5433.29s
+  Worker averages:
+  episode_total: mean=163.57s, total=2944.33s, count=18, min=316.6ms, max=237318.8ms
+  sensor_polling: mean=516.8ms, total=2213.86s, count=4284, min=426.5ms, max=1142.7ms
+  physics_step: mean=25.3ms, total=108.29s, count=4284, min=14.4ms, max=132.4ms
+  save_trajectories: mean=9.53s, total=95.34s, count=10, min=8379.2ms, max=11239.8ms
+  save_batch_prep: mean=4.31s, total=43.07s, count=10, min=3882.2ms, max=4569.3ms
+  task_sampling: mean=704.6ms, total=11.98s, count=17, min=396.2ms, max=3413.0ms
+  task_specific_sample: mean=521.3ms, total=9.38s, count=18, min=309.7ms, max=797.1ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
+  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
+  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
+  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
+  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
+  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
+  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=9.6ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  mj_forward_sync: mean=506.6us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=20.3us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 20:34:29 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 20:34:29 INFO: Success count: 10, Total count: 10	[pipeline.py: 1491]
+05/10 20:34:29 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 20:34:41 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:34:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:34:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:34:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:34:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:34:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 12.35s (batch: 4.10s, save: 8.25s)	[pipeline.py: 300]
+05/10 20:34:53 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.62s:
+  episode_total: mean=207.56s, total=207.56s, count=1, min=207563.8ms, max=207563.8ms
+  sensor_polling: mean=524.8ms, total=157.43s, count=300, min=440.4ms, max=999.7ms
+  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8245.4ms, max=8245.4ms
+  physics_step: mean=25.6ms, total=7.68s, count=300, min=18.5ms, max=65.9ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4099.7ms, max=4099.7ms
+  task_sampling: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
+  task_specific_sample: mean=613.2ms, total=613.2ms, count=1, min=613.2ms, max=613.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=555.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:34:55 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/10 20:34:55 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/10 20:34:55 INFO: [Worker 0] Worker 0 completed house 1: 12/12 successful episodes	[pipeline.py: 1323]
+05/10 20:34:55 INFO: [Worker 0] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5446.50s
+  House averages:
+  episode_total: mean=165.16s, total=2972.89s, count=18, min=2247.4ms, max=268737.2ms
+  sensor_polling: mean=516.7ms, total=2171.16s, count=4202, min=425.7ms, max=1042.7ms
+  save_trajectories: mean=9.57s, total=114.90s, count=12, min=8245.4ms, max=12835.3ms
+  physics_step: mean=25.1ms, total=105.53s, count=4202, min=13.3ms, max=125.1ms
+  save_batch_prep: mean=4.37s, total=52.42s, count=12, min=3851.9ms, max=5192.6ms
+  task_sampling: mean=715.9ms, total=12.89s, count=18, min=353.9ms, max=3366.7ms
+  task_specific_sample: mean=549.0ms, total=9.88s, count=18, min=349.9ms, max=797.5ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
+  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
+  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
+  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
+  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
+  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  scene_randomize: mean=2.4ms, total=43.3ms, count=18, min=1.2ms, max=3.5ms
+  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
+  mj_forward_sync: mean=732.9us, total=13.2ms, count=18, min=0.4ms, max=4.6ms
+  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 20:34:55 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 20:34:55 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5446.50s
+  Worker averages:
+  episode_total: mean=165.16s, total=2972.89s, count=18, min=2247.4ms, max=268737.2ms
+  sensor_polling: mean=516.7ms, total=2171.16s, count=4202, min=425.7ms, max=1042.7ms
+  save_trajectories: mean=9.57s, total=114.90s, count=12, min=8245.4ms, max=12835.3ms
+  physics_step: mean=25.1ms, total=105.53s, count=4202, min=13.3ms, max=125.1ms
+  save_batch_prep: mean=4.37s, total=52.42s, count=12, min=3851.9ms, max=5192.6ms
+  task_sampling: mean=715.9ms, total=12.89s, count=18, min=353.9ms, max=3366.7ms
+  task_specific_sample: mean=549.0ms, total=9.88s, count=18, min=349.9ms, max=797.5ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
+  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
+  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
+  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
+  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
+  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  scene_randomize: mean=2.4ms, total=43.3ms, count=18, min=1.2ms, max=3.5ms
+  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
+  mj_forward_sync: mean=732.9us, total=13.2ms, count=18, min=0.4ms, max=4.6ms
+  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 20:34:58 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 20:34:58 INFO: Success count: 12, Total count: 12	[pipeline.py: 1491]
+05/10 20:34:58 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 20:35:17 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:35:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:35:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:35:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:35:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:35:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:35:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 11.98s (batch: 3.84s, save: 8.15s)	[pipeline.py: 300]
+05/10 20:35:54 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.71s:
+  episode_total: mean=130.16s, total=390.48s, count=3, min=5752.3ms, max=197097.2ms
+  sensor_polling: mean=509.7ms, total=292.57s, count=574, min=422.7ms, max=1066.4ms
+  physics_step: mean=24.0ms, total=13.80s, count=574, min=17.9ms, max=121.0ms
+  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8145.5ms, max=8145.5ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3837.6ms, max=3837.6ms
+  task_sampling: mean=569.5ms, total=1.71s, count=3, min=527.6ms, max=642.9ms
+  task_specific_sample: mean=565.3ms, total=1.70s, count=3, min=523.6ms, max=639.0ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=528.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:35:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:35:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:35:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:35:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:35:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:35:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:35:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001198m	[env.py: 870]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:35:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62053964  0.53992263  0.00119764] yaw=-177.3deg	[env.py: 1019]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89362921  0.36861494  0.00119764] yaw=179.1deg	[env.py: 1019]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81444606  0.35710162  0.00119764] yaw=176.4deg	[env.py: 1019]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:35:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.7ms, total=222.8ms	[env.py: 1075]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.621, 0.540, 0.001)	[env.py: 1079]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -177.3 deg	[env.py: 1082]
+05/10 20:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:35:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:35:56 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:35:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:35:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:35:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:35:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:35:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.921s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:35:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.676[m] 95.374[deg]	[grasp_sample.py: 539]
+05/10 20:35:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:35:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:35:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:37:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:37:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:37:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:38:30 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:38:51 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_007	[pipeline.py: 1174]
+05/10 20:38:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:38:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:39:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:39:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007	[save_utils.py: 785]
+05/10 20:39:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_007 in 13.93s (batch: 4.35s, save: 9.58s)	[pipeline.py: 300]
+05/10 20:39:06 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s:
+  episode_total: mean=190.00s, total=190.00s, count=1, min=190002.7ms, max=190002.7ms
+  sensor_polling: mean=476.1ms, total=142.84s, count=300, min=422.6ms, max=686.6ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9577.6ms, max=9577.6ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.4ms, max=79.6ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4351.8ms, max=4351.8ms
+  task_sampling: mean=516.6ms, total=516.6ms, count=1, min=516.6ms, max=516.6ms
+  task_specific_sample: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=522.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:39:07 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/10 20:39:07 WARNING: [Worker 0] No trajectory data to save for chunk_007	[pipeline.py: 234]
+05/10 20:39:07 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
+05/10 20:39:07 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5918.11s
+  House averages:
+  episode_total: mean=179.18s, total=3225.22s, count=18, min=3476.5ms, max=236103.7ms
+  sensor_polling: mean=512.3ms, total=2379.21s, count=4644, min=422.6ms, max=1083.2ms
+  physics_step: mean=25.0ms, total=115.99s, count=4644, min=13.9ms, max=121.0ms
+  save_trajectories: mean=9.60s, total=115.25s, count=12, min=8077.3ms, max=13112.4ms
+  save_batch_prep: mean=4.35s, total=52.22s, count=12, min=3837.6ms, max=6019.5ms
+  task_sampling: mean=738.7ms, total=13.30s, count=18, min=408.3ms, max=3245.1ms
+  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=404.4ms, max=1085.1ms
+  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
+  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
+  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
+  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
+  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
+  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
+  mj_forward_sync: mean=531.3us, total=9.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 20:39:07 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 20:39:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5918.11s
+  Worker averages:
+  episode_total: mean=179.18s, total=3225.22s, count=18, min=3476.5ms, max=236103.7ms
+  sensor_polling: mean=512.3ms, total=2379.21s, count=4644, min=422.6ms, max=1083.2ms
+  physics_step: mean=25.0ms, total=115.99s, count=4644, min=13.9ms, max=121.0ms
+  save_trajectories: mean=9.60s, total=115.25s, count=12, min=8077.3ms, max=13112.4ms
+  save_batch_prep: mean=4.35s, total=52.22s, count=12, min=3837.6ms, max=6019.5ms
+  task_sampling: mean=738.7ms, total=13.30s, count=18, min=408.3ms, max=3245.1ms
+  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=404.4ms, max=1085.1ms
+  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
+  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
+  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
+  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
+  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
+  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
+  mj_forward_sync: mean=531.3us, total=9.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 20:39:10 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 20:39:10 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
+05/10 20:39:10 INFO: Success rate: 92.31%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_007/shard_1_of_4.log b/fridge_7/chunk_007/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..4c7c65dc27707ae704e9cd2a6776df14099e207c
--- /dev/null
+++ b/fridge_7/chunk_007/shard_1_of_4.log
@@ -0,0 +1,1755 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_007
+  shard=1/4  seed=20701  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:44:49 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 19:44:49 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 19:44:49 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_007'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 19:44:49 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x703c7c2be4d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20701,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:44:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 19:44:49 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 19:44:49 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 123405085175376 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 123405085175376 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 123405085175376 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 123405085175376 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 123405085013776 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123405085013776 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123405085014352 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123405085014352 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123405085014352 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123405085014352 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123405085013776 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123405085013776 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123405088517520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123405088517520 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123405088511440 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123405088511440 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 123405088511440 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123405088511440 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123405088517520 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123405088517520 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 19:44:50 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 57ecc1f6aff0 at 0x703c7c95c150>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57ecc1f98b90 at 0x703c7c967fd0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 57ecc1f98b90 at 0x703c7c8f1dd0>
+[05/10 19:44:52 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:44:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 19:44:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:44:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:44:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040459m
+[05/10 19:44:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:44:52 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 19:44:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.93951293  1.03241453  0.04045881] yaw=-135.3deg
+[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.67885125  0.22759735  0.04045881] yaw=170.8deg
+[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.03138415  1.1204511   0.04045881] yaw=-126.3deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:44:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:44:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=46.9ms, retries=200.4ms, total=247.3ms
+[05/10 19:44:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.940, 1.032, 0.040)
+[05/10 19:44:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.3 deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.941m
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:44:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:44:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.576s
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 88 non-colliding grasps
+[05/10 19:45:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.557s, found feasible grasp: True
+[05/10 19:45:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.537[m] 92.204[deg]
+[05/10 19:45:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:45:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:46:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:46:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:46:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:48:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 19:48:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:48:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 19:48:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:48:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 19:48:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:48:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.31s (batch: 4.29s, save: 10.03s)
+[05/10 19:48:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.41s:
+  episode_total: mean=237.32s, total=237.32s, count=1, min=237318.8ms, max=237318.8ms
+  sensor_polling: mean=519.4ms, total=155.83s, count=300, min=426.5ms, max=720.3ms
+  save_trajectories: mean=10.03s, total=10.03s, count=1, min=10026.3ms, max=10026.3ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=15.8ms, max=125.0ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4287.2ms, max=4287.2ms
+  task_sampling: mean=3.41s, total=3.41s, count=1, min=3413.0ms, max=3413.0ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
+  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
+  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
+  task_specific_sample: mean=576.5ms, total=576.5ms, count=1, min=576.5ms, max=576.5ms
+  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
+  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
+  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=653.4us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=40.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:48:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:48:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:48:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:48:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:48:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:48:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:48:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:48:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 19:48:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:48:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:48:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082266m
+[05/10 19:48:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:48:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:48:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13831907  1.07094622  0.08226626] yaw=-126.3deg
+[05/10 19:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:48:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74903779  0.24424859  0.08226626] yaw=164.6deg
+[05/10 19:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:48:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.93823278  0.17281195  0.08226626] yaw=161.4deg
+[05/10 19:48:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:48:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:48:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=306.4ms, total=306.5ms
+[05/10 19:48:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.138, 1.071, 0.082)
+[05/10 19:48:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg
+[05/10 19:48:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.815m
+[05/10 19:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:48:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:48:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:48:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 19:48:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.126s
+[05/10 19:48:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:48:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:48:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.101s, found 88 non-colliding grasps
+[05/10 19:48:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.266s, found feasible grasp: True
+[05/10 19:48:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.421[m] 92.483[deg]
+[05/10 19:48:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:48:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:48:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:49:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:49:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:51:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:51:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:51:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:51:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:51:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:51:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:51:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:51:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
+[05/10 19:51:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.596s, found feasible grasp: True
+[05/10 19:51:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.297[deg]
+[05/10 19:51:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:51:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:51:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:51:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:51:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:51:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:51:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:51:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:51:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:51:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:51:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:51:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 19:51:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:51:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:51:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028140m
+[05/10 19:51:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:51:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:51:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:51:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:51:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:51:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.66979452  0.40708419  0.02814017] yaw=186.7deg
+[05/10 19:51:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:51:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89922956  0.9085871   0.02814017] yaw=-156.7deg
+[05/10 19:51:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:51:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82580758  1.09712943  0.02814017] yaw=-136.6deg
+[05/10 19:51:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:51:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:51:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.1ms, total=132.2ms
+[05/10 19:51:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.670, 0.407, 0.028)
+[05/10 19:51:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 186.7 deg
+[05/10 19:51:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.035m
+[05/10 19:51:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:51:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:51:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:51:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:51:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:51:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 19:51:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 19:51:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:51:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:51:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 19:51:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.658s, found feasible grasp: True
+[05/10 19:51:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.627[m] 97.631[deg]
+[05/10 19:51:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:51:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:51:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:52:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:52:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:54:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:54:45 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:54:45 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 19:54:45 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:54:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:54:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:54:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.66s (batch: 4.26s, save: 8.41s)
+[05/10 19:54:58 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=1.02s:
+  episode_total: mean=183.92s, total=367.83s, count=2, min=163518.7ms, max=204312.5ms
+  sensor_polling: mean=518.0ms, total=296.29s, count=572, min=434.2ms, max=955.8ms
+  physics_step: mean=25.8ms, total=14.76s, count=572, min=15.4ms, max=100.7ms
+  save_trajectories: mean=8.41s, total=8.41s, count=1, min=8405.3ms, max=8405.3ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4256.1ms, max=4256.1ms
+  task_sampling: mean=510.5ms, total=1.02s, count=2, min=396.2ms, max=624.7ms
+  task_specific_sample: mean=506.7ms, total=1.01s, count=2, min=393.1ms, max=620.3ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=464.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:55:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:55:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:55:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:55:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:55:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:55:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:55:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:55:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:55:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:55:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:55:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 19:55:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:55:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:55:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078190m
+[05/10 19:55:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:55:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:55:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:55:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:55:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:55:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02737266  0.95441478  0.07818964] yaw=-155.8deg
+[05/10 19:55:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:55:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80713692  0.93130194  0.07818964] yaw=-142.6deg
+[05/10 19:55:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:55:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 117.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:55:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.80073957  0.25127726  0.07818964] yaw=165.1deg
+[05/10 19:55:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:55:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:55:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.1ms, total=205.1ms
+[05/10 19:55:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.027, 0.954, 0.078)
+[05/10 19:55:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.8 deg
+[05/10 19:55:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
+[05/10 19:55:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:55:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:55:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:55:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:55:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:55:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 19:55:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 19:55:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:55:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:55:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 19:55:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
+[05/10 19:55:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.447[m] 97.685[deg]
+[05/10 19:55:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:55:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:55:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:55:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:56:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:56:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:57:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:58:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:58:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 19:58:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:58:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:58:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:58:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.75s (batch: 4.25s, save: 9.50s)
+[05/10 19:58:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
+  episode_total: mean=207.76s, total=207.76s, count=1, min=207757.9ms, max=207757.9ms
+  sensor_polling: mean=530.1ms, total=159.03s, count=300, min=437.1ms, max=1126.9ms
+  save_trajectories: mean=9.50s, total=9.50s, count=1, min=9496.2ms, max=9496.2ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=15.8ms, max=119.4ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4253.4ms, max=4253.4ms
+  task_sampling: mean=495.2ms, total=495.2ms, count=1, min=495.2ms, max=495.2ms
+  task_specific_sample: mean=491.2ms, total=491.2ms, count=1, min=491.2ms, max=491.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=463.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:58:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:58:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:58:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:58:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:58:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:58:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:58:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:58:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:58:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:58:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:58:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)
+[05/10 19:58:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:58:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:58:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059554m
+[05/10 19:58:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:58:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:58:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:58:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:58:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90046365  0.67043833  0.05955435] yaw=-168.2deg
+[05/10 19:58:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:58:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:58:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=281.7ms, total=281.7ms
+[05/10 19:58:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.900, 0.670, 0.060)
+[05/10 19:58:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.2 deg
+[05/10 19:58:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
+[05/10 19:58:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:58:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:58:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:58:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:58:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:58:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 19:58:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.086s
+[05/10 19:58:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:58:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:58:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 19:58:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
+[05/10 19:58:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.399[m] 89.099[deg]
+[05/10 19:58:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:59:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:59:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:01:20 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:01:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:01:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 20:01:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:01:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:01:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:01:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.93s (batch: 4.46s, save: 9.47s)
+[05/10 20:01:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.58s:
+  episode_total: mean=207.74s, total=207.74s, count=1, min=207740.9ms, max=207740.9ms
+  sensor_polling: mean=526.2ms, total=157.85s, count=300, min=448.3ms, max=896.8ms
+  save_trajectories: mean=9.47s, total=9.47s, count=1, min=9466.8ms, max=9466.8ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.0ms, max=121.9ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4460.4ms, max=4460.4ms
+  task_sampling: mean=581.0ms, total=581.0ms, count=1, min=581.0ms, max=581.0ms
+  task_specific_sample: mean=576.7ms, total=576.7ms, count=1, min=576.7ms, max=576.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=509.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:01:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:01:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:01:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:01:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:01:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:01:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:01:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:01:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:01:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:01:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:01:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
+[05/10 20:01:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:01:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:01:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022242m
+[05/10 20:01:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:01:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:01:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:01:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90071735  0.29349962  0.02224201] yaw=167.3deg
+[05/10 20:01:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:01:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80350395  1.02410784  0.02224201] yaw=-139.5deg
+[05/10 20:01:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:01:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88328612  1.0112491   0.02224201] yaw=-153.4deg
+[05/10 20:01:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:01:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:01:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.8ms, total=102.8ms
+[05/10 20:01:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.293, 0.022)
+[05/10 20:01:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.3 deg
+[05/10 20:01:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.823m
+[05/10 20:01:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:01:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:01:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:01:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:02:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:02:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 20:02:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 20:02:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:02:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:02:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:02:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
+[05/10 20:02:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.358[m] 85.062[deg]
+[05/10 20:02:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:02:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:02:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:03:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:03:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:03:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:03:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:03:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:03:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:04:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:04:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:04:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:04:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:04:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:04:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:04:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:04:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:04:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:04:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 70 non-colliding grasps
+[05/10 20:04:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 0.432s, found feasible grasp: True
+[05/10 20:04:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.058[m] 11.623[deg]
+[05/10 20:04:30 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:04:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:04:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:04:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:04:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:04:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:04:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:04:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:04:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:04:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:04:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:04:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 20:04:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:04:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:04:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030618m
+[05/10 20:04:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:04:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:04:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:04:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:04:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79663588  0.55730866  0.03061809] yaw=-174.7deg
+[05/10 20:04:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:04:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:04:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:04:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:04:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64269497  0.33408624  0.03061809] yaw=175.7deg
+[05/10 20:04:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:04:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87379683  0.94218255  0.03061809] yaw=-152.7deg
+[05/10 20:04:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:04:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:04:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.7ms
+[05/10 20:04:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.557, 0.031)
+[05/10 20:04:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.7 deg
+[05/10 20:04:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.909m
+[05/10 20:04:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:04:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:04:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:04:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:04:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:04:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 20:04:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
+[05/10 20:04:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:04:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:04:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 20:04:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
+[05/10 20:04:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.444[m] 79.998[deg]
+[05/10 20:04:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:04:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:04:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:05:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:05:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:07:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:07:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:07:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 20:07:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:07:57 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:07:57 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:07:57 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.66s (batch: 3.88s, save: 8.78s)
+[05/10 20:07:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.89s:
+  episode_total: mean=178.30s, total=356.60s, count=2, min=151046.9ms, max=205554.7ms
+  sensor_polling: mean=533.0ms, total=268.08s, count=503, min=451.2ms, max=1142.7ms
+  physics_step: mean=26.5ms, total=13.35s, count=503, min=15.4ms, max=100.0ms
+  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8777.7ms, max=8777.7ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3882.2ms, max=3882.2ms
+  task_sampling: mean=447.1ms, total=894.2ms, count=2, min=443.5ms, max=450.8ms
+  task_specific_sample: mean=443.6ms, total=887.1ms, count=2, min=439.7ms, max=447.5ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.4ms, max=2.4ms
+  mj_forward_sync: mean=410.7us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:07:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:07:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:07:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:07:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:07:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:07:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:07:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:07:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:07:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:07:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:07:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/10 20:07:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:07:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:07:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062228m
+[05/10 20:07:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:07:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:08:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:08:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73826463  0.0036593   0.06222759] yaw=150.8deg
+[05/10 20:08:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:08:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:08:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98665209  0.87555218  0.06222759] yaw=-143.8deg
+[05/10 20:08:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:08:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:08:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:08:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98480775  0.70567432  0.06222759] yaw=-173.0deg
+[05/10 20:08:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:08:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:08:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=383.1ms, total=383.1ms
+[05/10 20:08:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.004, 0.062)
+[05/10 20:08:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.8 deg
+[05/10 20:08:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.076m
+[05/10 20:08:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:08:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:08:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:08:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:08:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:08:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 20:08:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 20:08:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:08:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:08:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:08:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.544s, found feasible grasp: True
+[05/10 20:08:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.675[m] 101.962[deg]
+[05/10 20:08:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:08:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:08:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:08:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:08:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:08:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:08:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:08:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:08:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:08:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:08:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:08:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
+[05/10 20:08:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:08:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:08:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022432m
+[05/10 20:08:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:08:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:08:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:08:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:08:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79041998  0.46077208  0.02243246] yaw=168.0deg
+[05/10 20:08:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:08:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.71363253  0.74437145  0.02243246] yaw=-154.6deg
+[05/10 20:08:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:08:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0242722   1.18575682  0.02243246] yaw=-137.7deg
+[05/10 20:08:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:08:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:08:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.2ms, total=96.3ms
+[05/10 20:08:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.461, 0.022)
+[05/10 20:08:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.0 deg
+[05/10 20:08:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.912m
+[05/10 20:08:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:08:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:08:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:08:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:08:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:08:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 20:08:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 20:08:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:08:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:08:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 20:08:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.583s, found feasible grasp: True
+[05/10 20:08:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.504[m] 97.914[deg]
+[05/10 20:08:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:09:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:10:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:10:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:10:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:10:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:10:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:10:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:10:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:10:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:10:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
+[05/10 20:10:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.410s, found feasible grasp: True
+[05/10 20:10:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.204[deg]
+[05/10 20:10:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:10:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:11:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:11:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:11:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:11:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:11:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 20:11:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:12:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:12:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:12:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.91s (batch: 4.57s, save: 9.34s)
+[05/10 20:12:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.07s:
+  episode_total: mean=120.94s, total=241.88s, count=2, min=6396.8ms, max=235480.8ms
+  sensor_polling: mean=532.8ms, total=159.85s, count=300, min=447.9ms, max=782.6ms
+  save_trajectories: mean=9.34s, total=9.34s, count=1, min=9337.7ms, max=9337.7ms
+  physics_step: mean=25.1ms, total=7.52s, count=300, min=14.4ms, max=57.8ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4569.3ms, max=4569.3ms
+  task_sampling: mean=536.6ms, total=1.07s, count=2, min=405.2ms, max=668.0ms
+  task_specific_sample: mean=532.6ms, total=1.07s, count=2, min=401.8ms, max=663.4ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.5ms, max=3.1ms
+  mj_forward_sync: mean=546.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=18.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:12:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:12:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:12:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:12:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:12:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:12:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:12:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 20:12:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:12:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:12:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015821m
+[05/10 20:12:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:12:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:12:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:05 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=302.8ms, total=302.8ms
+[05/10 20:12:05 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 20:12:05 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 20:12:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:12:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:12:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:12:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:12:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:12:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:12:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:12:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:12:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:12:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:12:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
+[05/10 20:12:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:12:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:12:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093051m
+[05/10 20:12:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:12:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:12:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:12:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97801491  1.05628099  0.09305069] yaw=-146.3deg
+[05/10 20:12:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:12:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90851656  0.35368098  0.09305069] yaw=171.9deg
+[05/10 20:12:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:12:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79425182  0.49690505  0.09305069] yaw=-189.5deg
+[05/10 20:12:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:12:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:12:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.6ms, total=415.6ms
+[05/10 20:12:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.978, 1.056, 0.093)
+[05/10 20:12:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -146.3 deg
+[05/10 20:12:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.924m
+[05/10 20:12:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:12:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:12:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:12:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:12:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:12:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 20:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.107s
+[05/10 20:12:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:12:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:12:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 20:12:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.668s, found feasible grasp: True
+[05/10 20:12:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.529[m] 94.810[deg]
+[05/10 20:12:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:12:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:12:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:13:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:13:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:13:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:14:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:14:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:14:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:15:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:15:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:15:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:15:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 20:15:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:15:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:15:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:15:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 15.65s (batch: 4.41s, save: 11.24s)
+[05/10 20:15:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.70s:
+  episode_total: mean=109.79s, total=219.59s, count=2, min=316.6ms, max=219269.3ms
+  sensor_polling: mean=521.0ms, total=156.31s, count=300, min=444.4ms, max=1022.0ms
+  save_trajectories: mean=11.24s, total=11.24s, count=1, min=11239.8ms, max=11239.8ms
+  physics_step: mean=25.0ms, total=7.50s, count=300, min=18.5ms, max=64.7ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.8ms, max=4411.8ms
+  task_specific_sample: mean=504.6ms, total=1.01s, count=2, min=309.7ms, max=699.4ms
+  task_sampling: mean=702.8ms, total=702.8ms, count=1, min=702.8ms, max=702.8ms
+  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=1.4ms, max=3.4ms
+  mj_forward_sync: mean=600.9us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:15:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:15:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:15:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:15:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:15:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:15:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:15:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:15:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:15:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:15:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:15:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/10 20:15:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:15:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:15:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061789m
+[05/10 20:15:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:15:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:15:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:15:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71439009  0.70118447  0.06178923] yaw=-173.1deg
+[05/10 20:15:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:15:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:15:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:15:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:15:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:15:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81502998  0.44651377  0.06178923] yaw=166.7deg
+[05/10 20:15:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:15:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91692036  0.1795625   0.06178923] yaw=162.7deg
+[05/10 20:15:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:15:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:15:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.7ms, total=205.8ms
+[05/10 20:15:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.701, 0.062)
+[05/10 20:15:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -173.1 deg
+[05/10 20:15:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.012m
+[05/10 20:15:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:15:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:15:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:15:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:15:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:15:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 20:15:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s
+[05/10 20:15:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:15:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:15:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 20:15:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.916s, found feasible grasp: True
+[05/10 20:15:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.536[m] 86.985[deg]
+[05/10 20:15:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:15:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:15:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:16:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:16:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:16:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:18:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:18:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:18:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 20:18:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:18:58 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:18:58 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:18:58 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.61s (batch: 4.24s, save: 8.38s)
+[05/10 20:18:59 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.52s:
+  episode_total: mean=190.80s, total=190.80s, count=1, min=190801.9ms, max=190801.9ms
+  sensor_polling: mean=485.0ms, total=145.51s, count=300, min=441.9ms, max=796.1ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8379.2ms, max=8379.2ms
+  physics_step: mean=23.9ms, total=7.16s, count=300, min=18.6ms, max=66.4ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4235.5ms, max=4235.5ms
+  task_sampling: mean=517.7ms, total=517.7ms, count=1, min=517.7ms, max=517.7ms
+  task_specific_sample: mean=513.1ms, total=513.1ms, count=1, min=513.1ms, max=513.1ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=572.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:19:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:19:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:19:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:19:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:19:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:19:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:19:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:19:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:19:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:19:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:19:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 20:19:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:19:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:19:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010988m
+[05/10 20:19:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:19:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:19:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:19:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:19:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97231788  0.16879516  0.01098772] yaw=154.2deg
+[05/10 20:19:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:19:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:19:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:19:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87106898  0.92219402  0.01098772] yaw=-162.9deg
+[05/10 20:19:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:19:01 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:19:01 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.5ms, total=248.5ms
+[05/10 20:19:01 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.169, 0.011)
+[05/10 20:19:01 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.2 deg
+[05/10 20:19:01 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m
+[05/10 20:19:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:19:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:19:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:19:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:19:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:19:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 20:19:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 20:19:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:19:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:19:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 20:19:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.542s, found feasible grasp: True
+[05/10 20:19:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.342[m] 87.277[deg]
+[05/10 20:19:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:19:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:19:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:19:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:20:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:20:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:20:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:20:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:20:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:20:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:20:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:20:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:20:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:20:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:21:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:21:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:21:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:21:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:21:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 84 non-colliding grasps
+[05/10 20:21:02 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.441s, found feasible grasp: True
+[05/10 20:21:02 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.022[m] 1.421[deg]
+[05/10 20:21:02 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:21:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:21:17 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:21:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:21:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:21:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:21:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:21:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:21:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:21:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:21:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:21:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 20:21:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:21:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:21:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
+[05/10 20:21:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.571s, found feasible grasp: True
+[05/10 20:21:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.030[m] 3.952[deg]
+[05/10 20:21:48 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:21:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:21:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:21:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:21:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:21:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:21:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:21:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:21:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:21:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:21:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:21:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
+[05/10 20:21:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:21:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:21:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091143m
+[05/10 20:21:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:21:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:21:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:21:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:21:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:21:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6681564   0.63475783  0.09114342] yaw=-172.1deg
+[05/10 20:21:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:21:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:21:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86639419  0.93005089  0.09114342] yaw=-162.7deg
+[05/10 20:21:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:21:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.9244916   0.19179997  0.09114342] yaw=161.1deg
+[05/10 20:21:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:21:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:21:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.9ms
+[05/10 20:21:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.668, 0.635, 0.091)
+[05/10 20:21:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.1 deg
+[05/10 20:21:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m
+[05/10 20:21:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:21:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:21:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:21:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:21:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:21:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 20:21:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 20:21:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:21:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:21:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:21:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.705s, found feasible grasp: True
+[05/10 20:21:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.600[m] 85.611[deg]
+[05/10 20:21:51 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:21:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:22:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:23:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:23:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:24:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:24:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:24:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 20:24:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:25:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:25:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:25:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.39s (batch: 4.40s, save: 9.99s)
+[05/10 20:25:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.98s:
+  episode_total: mean=181.21s, total=362.43s, count=2, min=166958.1ms, max=195467.5ms
+  sensor_polling: mean=482.2ms, total=265.22s, count=550, min=438.7ms, max=855.9ms
+  physics_step: mean=22.1ms, total=12.13s, count=550, min=15.6ms, max=64.6ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9993.9ms, max=9993.9ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4398.4ms, max=4398.4ms
+  task_sampling: mean=488.3ms, total=976.5ms, count=2, min=413.0ms, max=563.5ms
+  task_specific_sample: mean=484.8ms, total=969.5ms, count=2, min=409.6ms, max=559.9ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.3ms
+  mj_forward_sync: mean=438.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:25:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:25:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:25:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:25:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:25:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:25:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:25:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:25:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/10 20:25:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:25:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:25:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097386m
+[05/10 20:25:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:25:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:25:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.12791297  1.00729256  0.09738632] yaw=-138.6deg
+[05/10 20:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85027696  0.30447728  0.09738632] yaw=167.4deg
+[05/10 20:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:25:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.16117418  1.05788775  0.09738632] yaw=-142.9deg
+[05/10 20:25:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:25:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:25:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=247.0ms, total=247.0ms
+[05/10 20:25:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.128, 1.007, 0.097)
+[05/10 20:25:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg
+[05/10 20:25:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.778m
+[05/10 20:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:25:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:25:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:25:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 20:25:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.147s
+[05/10 20:25:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:25:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:25:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 20:25:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.208s, found feasible grasp: True
+[05/10 20:25:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.356[m] 75.979[deg]
+[05/10 20:25:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:25:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:25:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:26:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:26:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:27:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:27:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:27:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:27:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:27:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:27:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:27:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:27:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:27:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:27:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 20:27:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.653s, found feasible grasp: True
+[05/10 20:27:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.326[deg]
+[05/10 20:27:55 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:27:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:27:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:27:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:27:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:27:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:27:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:27:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:27:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:27:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:27:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:27:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)
+[05/10 20:27:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:27:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:27:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083428m
+[05/10 20:27:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:27:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:27:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:27:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89933503  0.86665457  0.0834276 ] yaw=-161.6deg
+[05/10 20:27:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:27:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:27:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -55.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:27:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:27:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:27:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69978329  0.70979182  0.0834276 ] yaw=-160.0deg
+[05/10 20:27:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:27:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87381205  0.15941204  0.0834276 ] yaw=153.7deg
+[05/10 20:27:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:27:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:27:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=523.4ms, total=523.5ms
+[05/10 20:27:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.899, 0.867, 0.083)
+[05/10 20:27:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg
+[05/10 20:27:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.890m
+[05/10 20:27:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:27:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:27:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:27:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:27:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:27:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 20:27:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.127s
+[05/10 20:27:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:27:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:27:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 20:27:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.599s, found feasible grasp: True
+[05/10 20:27:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.459[m] 91.132[deg]
+[05/10 20:27:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:28:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:28:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:28:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:29:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:29:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:30:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:31:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:31:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 1/4: 1 episodes
+[05/10 20:31:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:31:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:31:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:31:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.53s (batch: 4.31s, save: 10.22s)
+[05/10 20:31:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.37s:
+  episode_total: mean=188.08s, total=376.16s, count=2, min=167820.9ms, max=208339.1ms
+  sensor_polling: mean=521.8ms, total=300.01s, count=575, min=442.4ms, max=968.0ms
+  physics_step: mean=26.1ms, total=15.02s, count=575, min=18.2ms, max=113.4ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10216.7ms, max=10216.7ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4311.8ms, max=4311.8ms
+  task_sampling: mean=684.1ms, total=1.37s, count=2, min=559.6ms, max=808.7ms
+  task_specific_sample: mean=676.4ms, total=1.35s, count=2, min=555.7ms, max=797.1ms
+  scene_randomize: mean=6.1ms, total=12.1ms, count=2, min=2.5ms, max=9.6ms
+  mj_forward_sync: mean=538.5us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=17.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:31:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:31:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:31:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:31:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:31:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:31:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:31:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:31:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:31:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:31:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:31:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
+[05/10 20:31:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:31:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:31:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058882m
+[05/10 20:31:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:31:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:31:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:31:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:31:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:31:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:31:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.08819506  0.97536592  0.05888197] yaw=-147.3deg
+[05/10 20:31:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:31:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.09744337  1.00202373  0.05888197] yaw=-133.6deg
+[05/10 20:31:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:31:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92629682  0.29605768  0.05888197] yaw=167.8deg
+[05/10 20:31:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:31:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:31:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.0ms, total=179.1ms
+[05/10 20:31:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.088, 0.975, 0.059)
+[05/10 20:31:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg
+[05/10 20:31:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.788m
+[05/10 20:31:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:31:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:31:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:31:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:31:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:31:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 20:31:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 20:31:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:31:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:31:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/10 20:31:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True
+[05/10 20:31:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.350[m] 80.596[deg]
+[05/10 20:31:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:31:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:31:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:32:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:32:18 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:34:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:34:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:34:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:34:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:34:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:34:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:34:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:34:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:34:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:34:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
+[05/10 20:34:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.642s, found feasible grasp: True
+[05/10 20:34:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.383[deg]
+[05/10 20:34:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:34:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:34:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:34:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:34:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:34:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:34:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:34:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:34:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:34:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:34:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:34:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 20:34:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:34:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:34:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076924m
+[05/10 20:34:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:34:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:34:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:34:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:34:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85179338  1.11549054  0.07692415] yaw=-137.2deg
+[05/10 20:34:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:34:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06781323  0.95328039  0.07692415] yaw=-149.3deg
+[05/10 20:34:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:34:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:34:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:34:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.12076845  0.97653856  0.07692415] yaw=-135.8deg
+[05/10 20:34:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:34:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:34:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.7ms, total=155.7ms
+[05/10 20:34:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.115, 0.077)
+[05/10 20:34:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.2 deg
+[05/10 20:34:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.061m
+[05/10 20:34:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:34:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:34:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:34:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:34:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:34:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 20:34:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 20:34:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:34:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:34:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 20:34:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.706s, found feasible grasp: True
+[05/10 20:34:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.657[m] 96.158[deg]
+[05/10 20:34:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:34:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
+[05/10 20:34:26 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
+[05/10 20:34:26 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 10/10 successful episodes
+[05/10 20:34:26 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 10/10 successful, 10 episodes, total_time=5433.29s
+  House averages:
+  episode_total: mean=163.57s, total=2944.33s, count=18, min=316.6ms, max=237318.8ms
+  sensor_polling: mean=516.8ms, total=2213.86s, count=4284, min=426.5ms, max=1142.7ms
+  physics_step: mean=25.3ms, total=108.29s, count=4284, min=14.4ms, max=132.4ms
+  save_trajectories: mean=9.53s, total=95.34s, count=10, min=8379.2ms, max=11239.8ms
+  save_batch_prep: mean=4.31s, total=43.07s, count=10, min=3882.2ms, max=4569.3ms
+  task_sampling: mean=704.6ms, total=11.98s, count=17, min=396.2ms, max=3413.0ms
+  task_specific_sample: mean=521.3ms, total=9.38s, count=18, min=309.7ms, max=797.1ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
+  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
+  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
+  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
+  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
+  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
+  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=9.6ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  mj_forward_sync: mean=506.6us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=20.3us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 20:34:27 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 20:34:27 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5433.29s
+  Worker averages:
+  episode_total: mean=163.57s, total=2944.33s, count=18, min=316.6ms, max=237318.8ms
+  sensor_polling: mean=516.8ms, total=2213.86s, count=4284, min=426.5ms, max=1142.7ms
+  physics_step: mean=25.3ms, total=108.29s, count=4284, min=14.4ms, max=132.4ms
+  save_trajectories: mean=9.53s, total=95.34s, count=10, min=8379.2ms, max=11239.8ms
+  save_batch_prep: mean=4.31s, total=43.07s, count=10, min=3882.2ms, max=4569.3ms
+  task_sampling: mean=704.6ms, total=11.98s, count=17, min=396.2ms, max=3413.0ms
+  task_specific_sample: mean=521.3ms, total=9.38s, count=18, min=309.7ms, max=797.1ms
+  scene_load: mean=2.83s, total=2.83s, count=1, min=2833.0ms, max=2833.0ms
+  scene_env_create: mean=1.73s, total=1.73s, count=1, min=1732.6ms, max=1732.6ms
+  scene_compile: mean=919.2ms, total=919.2ms, count=1, min=919.2ms, max=919.2ms
+  compile_mujoco: mean=668.5ms, total=668.5ms, count=1, min=668.5ms, max=668.5ms
+  task_sampling_failed: mean=316.5ms, total=316.5ms, count=1, min=316.5ms, max=316.5ms
+  compile_xml_load: mean=186.6ms, total=186.6ms, count=1, min=186.6ms, max=186.6ms
+  scene_init: mean=138.8ms, total=138.8ms, count=1, min=138.8ms, max=138.8ms
+  compile_aux_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  compile_aux_policy_objects: mean=48.7ms, total=48.7ms, count=1, min=48.7ms, max=48.7ms
+  scene_randomize: mean=2.7ms, total=47.8ms, count=18, min=1.3ms, max=9.6ms
+  scene_asset_install: mean=42.1ms, total=42.1ms, count=1, min=42.1ms, max=42.1ms
+  asset_install_grasps: mean=30.7ms, total=30.7ms, count=1, min=30.7ms, max=30.7ms
+  mj_forward_sync: mean=506.6us, total=9.1ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=9.0ms, total=9.0ms, count=1, min=9.0ms, max=9.0ms
+  compile_robot_add: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=20.3us, total=0.3ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 20:34:29 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 20:34:29 INFO pipeline.py:1491] Success count: 10, Total count: 10
+[05/10 20:34:29 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_007
+==========================================
diff --git a/fridge_7/chunk_007/shard_2_of_4.log b/fridge_7/chunk_007/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..ee2c76c968f4b168b1972e6137bde5e84f9cbbbb
--- /dev/null
+++ b/fridge_7/chunk_007/shard_2_of_4.log
@@ -0,0 +1,1717 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_007
+  shard=2/4  seed=20702  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:44:50 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 19:44:50 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 19:44:50 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_007'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 19:44:50 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7341c196b690>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20702,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:44:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 19:44:50 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 19:44:50 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 126726253157712 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 126726253157712 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 126726253157712 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 126726253157712 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 126726256462672 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126726256462672 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126726256475856 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126726256475856 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126726256475856 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126726256475856 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126726256462672 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126726256462672 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126726253198928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126726253198928 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 126726253188240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126726253188240 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 126726253188240 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 126726253188240 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 126726253198928 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 126726253198928 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 19:44:50 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5d4be4167ef0 at 0x7341c1d42dd0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d4be4195a90 at 0x7341c1d52090>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d4be4195a90 at 0x7341c1cd8d10>
+[05/10 19:44:53 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 19:44:53 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 19:44:53 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 19:44:53 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 19:44:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:44:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:44:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:44:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:44:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:44:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/10 19:44:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:44:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:44:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062358m
+[05/10 19:44:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:44:53 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 19:44:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94611288  1.17634791  0.06235842] yaw=-134.5deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76954052  0.08004172  0.06235842] yaw=159.2deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74807338  0.91854216  0.06235842] yaw=-163.8deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:44:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:44:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=14.1ms, retries=140.5ms, total=154.7ms
+[05/10 19:44:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.946, 1.176, 0.062)
+[05/10 19:44:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.5 deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:44:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:44:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.071s
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 19:45:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.961s, found feasible grasp: True
+[05/10 19:45:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.613[m] 95.467[deg]
+[05/10 19:45:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:45:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:45:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:45:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:45:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:45:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:45:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:45:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:45:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:45:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:45:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:45:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
+[05/10 19:45:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:45:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:45:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027235m
+[05/10 19:45:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:45:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:45:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:45:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95766998  0.23143234  0.02723459] yaw=166.1deg
+[05/10 19:45:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:45:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:45:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:45:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.85154113  0.37219871  0.02723459] yaw=177.6deg
+[05/10 19:45:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:45:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 100.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:45:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:45:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=402.2ms, total=402.2ms
+[05/10 19:45:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.958, 0.231, 0.027)
+[05/10 19:45:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg
+[05/10 19:45:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/10 19:45:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:45:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:45:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:45:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:45:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:45:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 19:45:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 19:45:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:45:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:45:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.061s, found 88 non-colliding grasps
+[05/10 19:45:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.537s, found feasible grasp: True
+[05/10 19:45:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.319[m] 81.614[deg]
+[05/10 19:45:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:45:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:46:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:46:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:47:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:47:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:47:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:47:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:47:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:47:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:47:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:47:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:47:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:47:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:47:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:47:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps
+[05/10 19:47:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.801s, found feasible grasp: True
+[05/10 19:47:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.391[deg]
+[05/10 19:47:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:47:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:47:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:47:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:47:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:47:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:47:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:47:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:47:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:47:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:47:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:47:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:48:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:48:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:48:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:48:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:48:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:48:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:48:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 19:48:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:48:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:48:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 70 non-colliding grasps
+[05/10 19:48:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 4.068s, found feasible grasp: True
+[05/10 19:48:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 23 (originally 23): w/ 0.046[m] 6.613[deg]
+[05/10 19:48:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:48:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:48:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:48:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:49:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:49:15 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 19:49:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:49:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 19:49:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:49:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 19:49:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:49:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 17.07s (batch: 5.19s, save: 11.88s)
+[05/10 19:49:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.05s:
+  episode_total: mean=152.63s, total=305.26s, count=2, min=36518.8ms, max=268737.2ms
+  sensor_polling: mean=525.2ms, total=157.55s, count=300, min=430.8ms, max=887.8ms
+  save_trajectories: mean=11.88s, total=11.88s, count=1, min=11875.0ms, max=11875.0ms
+  physics_step: mean=27.5ms, total=8.26s, count=300, min=13.3ms, max=105.7ms
+  save_batch_prep: mean=5.19s, total=5.19s, count=1, min=5192.6ms, max=5192.6ms
+  task_sampling: mean=2.03s, total=4.05s, count=2, min=687.1ms, max=3366.7ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
+  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
+  task_specific_sample: mean=560.1ms, total=1.12s, count=2, min=435.8ms, max=684.4ms
+  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
+  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
+  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
+  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
+  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.3ms, max=1.4ms
+  mj_forward_sync: mean=456.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:49:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:49:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:49:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:49:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:49:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:49:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:49:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:49:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:49:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:49:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:49:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
+[05/10 19:49:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:49:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:49:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006516m
+[05/10 19:49:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:49:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:49:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:49:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:49:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7688609   0.37402735  0.00651616] yaw=174.3deg
+[05/10 19:49:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:49:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91988827  0.93155005  0.00651616] yaw=-158.3deg
+[05/10 19:49:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:49:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73593649  0.4405686   0.00651616] yaw=169.0deg
+[05/10 19:49:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:49:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:49:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.9ms, total=100.9ms
+[05/10 19:49:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.374, 0.007)
+[05/10 19:49:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.3 deg
+[05/10 19:49:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.940m
+[05/10 19:49:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:49:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:49:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:49:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:49:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:49:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 19:49:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
+[05/10 19:49:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:49:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:49:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 19:50:00 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.536s, found feasible grasp: True
+[05/10 19:50:00 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.511[m] 94.479[deg]
+[05/10 19:50:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:50:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:50:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:50:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:51:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:51:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:52:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:53:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:53:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 19:53:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:53:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:53:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:53:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.03s (batch: 4.59s, save: 9.44s)
+[05/10 19:53:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.35s:
+  episode_total: mean=208.53s, total=208.53s, count=1, min=208534.2ms, max=208534.2ms
+  sensor_polling: mean=511.7ms, total=153.50s, count=300, min=429.1ms, max=816.1ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9444.1ms, max=9444.1ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=18.5ms, max=88.9ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4589.8ms, max=4589.8ms
+  task_sampling: mean=353.9ms, total=353.9ms, count=1, min=353.9ms, max=353.9ms
+  task_specific_sample: mean=349.9ms, total=349.9ms, count=1, min=349.9ms, max=349.9ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=410.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:53:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:53:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:53:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:53:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:53:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:53:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:53:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 19:53:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:53:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:53:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031138m
+[05/10 19:53:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:53:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:53:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89473831  0.87948054  0.03113831] yaw=-151.2deg
+[05/10 19:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87197325  0.19232102  0.03113831] yaw=158.1deg
+[05/10 19:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:53:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:53:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78739777  1.00895019  0.03113831] yaw=-150.9deg
+[05/10 19:53:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:53:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:53:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.5ms, total=98.6ms
+[05/10 19:53:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.895, 0.879, 0.031)
+[05/10 19:53:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg
+[05/10 19:53:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.900m
+[05/10 19:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:53:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:53:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:53:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 19:53:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/10 19:53:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:53:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:53:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 19:53:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.633s, found feasible grasp: True
+[05/10 19:53:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.466[m] 88.083[deg]
+[05/10 19:53:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:53:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:54:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:54:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:56:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:56:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:56:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 19:56:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:56:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:56:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:56:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 17.35s (batch: 4.52s, save: 12.84s)
+[05/10 19:57:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.40s:
+  episode_total: mean=210.39s, total=210.39s, count=1, min=210390.2ms, max=210390.2ms
+  sensor_polling: mean=518.8ms, total=155.64s, count=300, min=425.7ms, max=992.2ms
+  save_trajectories: mean=12.84s, total=12.84s, count=1, min=12835.3ms, max=12835.3ms
+  physics_step: mean=25.0ms, total=7.50s, count=300, min=18.9ms, max=77.1ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4515.3ms, max=4515.3ms
+  task_sampling: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
+  task_specific_sample: mean=399.6ms, total=399.6ms, count=1, min=399.6ms, max=399.6ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=586.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:57:01 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:57:01 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:57:01 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:57:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:57:01 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:57:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:57:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:57:01 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:57:01 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:57:01 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:57:01 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.089m, effective arm-mount z=0.949m (base_body_z=0.089m, pedestal_h=0.860m)
+[05/10 19:57:01 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:57:01 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:57:01 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089256m
+[05/10 19:57:01 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:57:01 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:57:01 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:57:01 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94317998  0.16687815  0.08925634] yaw=149.4deg
+[05/10 19:57:01 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:57:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:57:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:57:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:57:01 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 110.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:57:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.98944729  0.72553929  0.08925634] yaw=-152.5deg
+[05/10 19:57:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:57:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:57:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=365.3ms, total=365.4ms
+[05/10 19:57:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.943, 0.167, 0.089)
+[05/10 19:57:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 149.4 deg
+[05/10 19:57:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.822m
+[05/10 19:57:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:57:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:57:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:57:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:57:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:57:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 19:57:02 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
+[05/10 19:57:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:57:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:57:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/10 19:57:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.682s, found feasible grasp: True
+[05/10 19:57:03 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.376[m] 82.610[deg]
+[05/10 19:57:03 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:57:03 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:57:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:57:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:57:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:58:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:58:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:58:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:58:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:58:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:58:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:58:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:58:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:58:54 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:58:54 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:58:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:58:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:58:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps
+[05/10 19:58:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.865s, found feasible grasp: True
+[05/10 19:58:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.162[deg]
+[05/10 19:58:57 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:58:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:58:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:58:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:58:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:58:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:58:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:58:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:58:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:58:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:58:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:58:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 19:58:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:58:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:58:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012469m
+[05/10 19:58:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:58:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:58:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:58:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69226349  0.90674144  0.01246883] yaw=-160.7deg
+[05/10 19:58:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:58:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82355689  0.0863396   0.01246883] yaw=162.3deg
+[05/10 19:58:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:58:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:58:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:58:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96527915  1.21601626  0.01246883] yaw=-139.2deg
+[05/10 19:58:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:58:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:58:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.9ms, total=161.0ms
+[05/10 19:58:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.692, 0.907, 0.012)
+[05/10 19:58:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg
+[05/10 19:58:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.096m
+[05/10 19:58:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:58:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:58:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:58:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:59:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:59:00 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 19:59:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.107s
+[05/10 19:59:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:59:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:59:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 19:59:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.226s, found feasible grasp: True
+[05/10 19:59:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.688[m] 84.702[deg]
+[05/10 19:59:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:59:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:00:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:00:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:00:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:01:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:02:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:02:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:02:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:02:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:02:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:02:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.00s (batch: 4.09s, save: 8.91s)
+[05/10 20:02:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.24s:
+  episode_total: mean=163.50s, total=327.00s, count=2, min=115496.1ms, max=211499.2ms
+  sensor_polling: mean=512.1ms, total=247.83s, count=484, min=433.8ms, max=959.2ms
+  physics_step: mean=24.0ms, total=11.64s, count=484, min=17.7ms, max=69.5ms
+  save_trajectories: mean=8.91s, total=8.91s, count=1, min=8908.8ms, max=8908.8ms
+  save_batch_prep: mean=4.09s, total=4.09s, count=1, min=4086.4ms, max=4086.4ms
+  task_sampling: mean=620.1ms, total=1.24s, count=2, min=535.8ms, max=704.4ms
+  task_specific_sample: mean=616.0ms, total=1.23s, count=2, min=531.8ms, max=700.2ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.9ms, max=2.7ms
+  mj_forward_sync: mean=581.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=24.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:02:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:02:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:02:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:02:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:02:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:02:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:02:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:02:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:02:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:02:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:02:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/10 20:02:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:02:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:02:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041340m
+[05/10 20:02:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:02:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:02:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:02:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.15695727  1.01635406  0.04134004] yaw=-143.2deg
+[05/10 20:02:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:02:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:02:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:02:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:02:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:02:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93190871  0.09836322  0.04134004] yaw=153.3deg
+[05/10 20:02:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:02:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.76304696  0.65011816  0.04134004] yaw=-180.6deg
+[05/10 20:02:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:02:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:02:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.3ms, total=190.3ms
+[05/10 20:02:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.157, 1.016, 0.041)
+[05/10 20:02:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.2 deg
+[05/10 20:02:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.764m
+[05/10 20:02:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:02:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:02:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:02:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:02:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:02:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 20:02:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 20:02:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:02:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:02:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 20:02:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.604s, found feasible grasp: True
+[05/10 20:02:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.365[m] 84.628[deg]
+[05/10 20:02:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:03:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:05:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:05:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:05:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:05:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:05:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:05:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:05:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:05:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:05:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 76 non-colliding grasps
+[05/10 20:05:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.777s, found feasible grasp: True
+[05/10 20:05:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.306[deg]
+[05/10 20:05:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:05:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:05:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:05:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:05:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:05:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:05:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:05:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:05:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:05:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:05:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:05:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)
+[05/10 20:05:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:05:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:05:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008380m
+[05/10 20:05:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:05:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:05:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:05:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83951672  0.65309542  0.00837957] yaw=-175.5deg
+[05/10 20:05:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:05:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.94224853  0.42782171  0.00837957] yaw=181.9deg
+[05/10 20:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:05:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.9464837   0.83913166  0.00837957] yaw=-144.0deg
+[05/10 20:05:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:05:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:05:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=423.1ms, total=423.2ms
+[05/10 20:05:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.653, 0.008)
+[05/10 20:05:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.5 deg
+[05/10 20:05:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.880m
+[05/10 20:05:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:05:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:05:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:05:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:05:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:05:21 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 20:05:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
+[05/10 20:05:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:05:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:05:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 20:05:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.925s, found feasible grasp: True
+[05/10 20:05:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.481[m] 101.568[deg]
+[05/10 20:05:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:06:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:06:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:08:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:08:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:08:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:08:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:08:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:08:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:08:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.78s (batch: 4.71s, save: 9.07s)
+[05/10 20:08:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=1.28s:
+  episode_total: mean=190.29s, total=380.58s, count=2, min=166038.3ms, max=214545.9ms
+  sensor_polling: mean=526.0ms, total=298.25s, count=567, min=451.2ms, max=998.9ms
+  physics_step: mean=25.0ms, total=14.16s, count=567, min=17.7ms, max=66.5ms
+  save_trajectories: mean=9.07s, total=9.07s, count=1, min=9065.8ms, max=9065.8ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4714.9ms, max=4714.9ms
+  task_sampling: mean=640.5ms, total=1.28s, count=2, min=479.8ms, max=801.2ms
+  task_specific_sample: mean=636.4ms, total=1.27s, count=2, min=475.4ms, max=797.5ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=3.0ms
+  mj_forward_sync: mean=546.6us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=25.3us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:08:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:08:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:08:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:08:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:08:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:08:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:08:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:08:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:08:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:08:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:08:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)
+[05/10 20:08:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:08:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:08:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016508m
+[05/10 20:08:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:08:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:08:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86068619  0.55693989  0.01650806] yaw=-171.6deg
+[05/10 20:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:08:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.72526702  0.50716635  0.01650806] yaw=-170.8deg
+[05/10 20:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:08:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85204273  0.98649189  0.01650806] yaw=-140.8deg
+[05/10 20:08:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:08:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:08:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=370.6ms, total=370.6ms
+[05/10 20:08:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.861, 0.557, 0.017)
+[05/10 20:08:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg
+[05/10 20:08:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.845m
+[05/10 20:08:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:08:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:08:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:08:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:08:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:08:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 20:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.154s
+[05/10 20:08:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:08:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:08:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 20:08:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.030s, found feasible grasp: True
+[05/10 20:08:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.390[m] 83.052[deg]
+[05/10 20:08:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:08:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:09:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:09:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:11:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:12:14 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:12:14 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:12:14 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
+[05/10 20:12:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:12:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:12:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.96s (batch: 4.62s, save: 9.33s)
+[05/10 20:12:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.74s:
+  episode_total: mean=211.91s, total=211.91s, count=1, min=211906.3ms, max=211906.3ms
+  sensor_polling: mean=522.8ms, total=156.32s, count=299, min=456.8ms, max=860.0ms
+  save_trajectories: mean=9.33s, total=9.33s, count=1, min=9331.7ms, max=9331.7ms
+  physics_step: mean=25.2ms, total=7.55s, count=299, min=18.7ms, max=59.8ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4623.7ms, max=4623.7ms
+  task_sampling: mean=740.2ms, total=740.2ms, count=1, min=740.2ms, max=740.2ms
+  task_specific_sample: mean=731.4ms, total=731.4ms, count=1, min=731.4ms, max=731.4ms
+  mj_forward_sync: mean=4.6ms, total=4.6ms, count=1, min=4.6ms, max=4.6ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  policy_setup: mean=18.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:12:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:12:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:12:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:12:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:12:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:12:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:12:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:12:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:12:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:12:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:12:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 20:12:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:12:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:12:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013338m
+[05/10 20:12:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:12:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:12:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:12:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7570384   0.26022629  0.01333754] yaw=168.5deg
+[05/10 20:12:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:12:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.73632854  0.03981732  0.01333754] yaw=160.0deg
+[05/10 20:12:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:12:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:12:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.7ms
+[05/10 20:12:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.757, 0.260, 0.013)
+[05/10 20:12:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.5 deg
+[05/10 20:12:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.971m
+[05/10 20:12:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:12:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:12:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:12:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:12:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:12:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 20:12:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.139s
+[05/10 20:12:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:12:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:12:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
+[05/10 20:12:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.238s, found feasible grasp: True
+[05/10 20:12:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.522[m] 87.173[deg]
+[05/10 20:12:33 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:12:33 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:12:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:13:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:13:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:13:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:15:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:15:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:15:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:15:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:16:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:16:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:16:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.48s (batch: 4.22s, save: 9.25s)
+[05/10 20:16:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.63s:
+  episode_total: mean=220.61s, total=220.61s, count=1, min=220606.3ms, max=220606.3ms
+  sensor_polling: mean=526.1ms, total=157.83s, count=300, min=449.5ms, max=974.1ms
+  save_trajectories: mean=9.25s, total=9.25s, count=1, min=9251.6ms, max=9251.6ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.2ms, max=125.1ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4223.6ms, max=4223.6ms
+  task_sampling: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms
+  task_specific_sample: mean=630.2ms, total=630.2ms, count=1, min=630.2ms, max=630.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=574.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:16:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:16:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:16:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:16:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:16:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:16:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:16:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:16:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:16:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:16:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:16:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 20:16:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:16:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:16:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010323m
+[05/10 20:16:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:16:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:16:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 128.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.75624644  0.87812877  0.01032255] yaw=-156.6deg
+[05/10 20:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:16:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.09380131  0.97515665  0.01032255] yaw=-141.4deg
+[05/10 20:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:16:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71703413  0.78134678  0.01032255] yaw=-173.6deg
+[05/10 20:16:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:16:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:16:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.5ms, total=146.6ms
+[05/10 20:16:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.756, 0.878, 0.010)
+[05/10 20:16:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg
+[05/10 20:16:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.026m
+[05/10 20:16:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:16:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:16:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:16:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:16:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:16:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 20:16:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 20:16:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:16:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:16:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 20:16:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.482s, found feasible grasp: True
+[05/10 20:16:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.582[m] 86.379[deg]
+[05/10 20:16:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:16:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:16:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:17:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:17:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:17:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:18:55 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:19:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:19:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:19:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:19:28 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:19:28 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:19:28 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.49s (batch: 4.16s, save: 8.33s)
+[05/10 20:19:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=196.03s, total=196.03s, count=1, min=196027.6ms, max=196027.6ms
+  sensor_polling: mean=490.4ms, total=147.11s, count=300, min=441.8ms, max=742.3ms
+  save_trajectories: mean=8.33s, total=8.33s, count=1, min=8329.7ms, max=8329.7ms
+  physics_step: mean=22.6ms, total=6.79s, count=300, min=18.2ms, max=39.8ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4160.8ms, max=4160.8ms
+  task_sampling: mean=490.5ms, total=490.5ms, count=1, min=490.5ms, max=490.5ms
+  task_specific_sample: mean=485.9ms, total=485.9ms, count=1, min=485.9ms, max=485.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=528.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:19:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:19:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:19:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:19:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:19:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:19:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:19:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:19:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:19:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:19:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:19:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 20:19:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:19:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:19:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085264m
+[05/10 20:19:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:19:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:19:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:19:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:19:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.0040099   0.89896518  0.0852638 ] yaw=-158.4deg
+[05/10 20:19:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:19:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 129.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:19:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:19:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:19:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:19:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.8ms
+[05/10 20:19:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.004, 0.899, 0.085)
+[05/10 20:19:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.4 deg
+[05/10 20:19:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.813m
+[05/10 20:19:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:19:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:19:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:19:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:19:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:19:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 20:19:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 20:19:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:19:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:19:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 20:19:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.593s, found feasible grasp: True
+[05/10 20:19:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.441[m] 93.968[deg]
+[05/10 20:19:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:19:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:19:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:20:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:20:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:20:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:22:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:22:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:22:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:22:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:22:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:22:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:22:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.65s (batch: 3.85s, save: 8.80s)
+[05/10 20:22:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.54s:
+  episode_total: mean=189.58s, total=189.58s, count=1, min=189584.0ms, max=189584.0ms
+  sensor_polling: mean=483.9ms, total=145.17s, count=300, min=440.3ms, max=757.0ms
+  save_trajectories: mean=8.80s, total=8.80s, count=1, min=8798.1ms, max=8798.1ms
+  physics_step: mean=22.8ms, total=6.85s, count=300, min=16.5ms, max=32.2ms
+  save_batch_prep: mean=3.85s, total=3.85s, count=1, min=3851.9ms, max=3851.9ms
+  task_sampling: mean=542.1ms, total=542.1ms, count=1, min=542.1ms, max=542.1ms
+  task_specific_sample: mean=537.9ms, total=537.9ms, count=1, min=537.9ms, max=537.9ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=426.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:22:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:22:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:22:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 20:22:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:22:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:22:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035040m
+[05/10 20:22:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:22:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:22:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92690517  1.23730249  0.03504019] yaw=-131.7deg
+[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76643389  0.89484973  0.03504019] yaw=-149.3deg
+[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.79517288  1.09174037  0.03504019] yaw=-139.7deg
+[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:22:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:22:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.7ms
+[05/10 20:22:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.927, 1.237, 0.035)
+[05/10 20:22:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.7 deg
+[05/10 20:22:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.082m
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:22:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:22:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 20:22:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
+[05/10 20:22:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:22:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:22:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 20:22:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.591s, found feasible grasp: False
+[05/10 20:22:44 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 20:22:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:22:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:22:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:22:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:22:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:22:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:22:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:22:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:22:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:22:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:22:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
+[05/10 20:22:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:22:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:22:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091219m
+[05/10 20:22:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:22:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:22:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97790168  0.26433194  0.09121896] yaw=171.7deg
+[05/10 20:22:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:22:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95438997  0.56836061  0.09121896] yaw=-183.5deg
+[05/10 20:22:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:22:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:22:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=287.2ms, total=287.3ms
+[05/10 20:22:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.978, 0.264, 0.091)
+[05/10 20:22:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.7 deg
+[05/10 20:22:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
+[05/10 20:22:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:22:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:22:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:22:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:22:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:22:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 20:22:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/10 20:22:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:22:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:22:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:22:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.474s, found feasible grasp: True
+[05/10 20:22:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.340[m] 91.883[deg]
+[05/10 20:22:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:22:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:22:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:23:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:23:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:23:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:24:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:24:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:24:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:24:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:24:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:24:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:24:16 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:24:16 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:24:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:24:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:24:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 78 non-colliding grasps
+[05/10 20:24:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.392s, found feasible grasp: True
+[05/10 20:24:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.490[deg]
+[05/10 20:24:18 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:24:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:24:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:24:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:24:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:24:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:24:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:24:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:24:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:24:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:24:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.051m, effective arm-mount z=0.911m (base_body_z=0.051m, pedestal_h=0.860m)
+[05/10 20:24:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:24:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:24:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051210m
+[05/10 20:24:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:24:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:24:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:24:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73767431  0.96751507  0.05120979] yaw=-161.6deg
+[05/10 20:24:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:24:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:24:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:24:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:24:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:24:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77028222  0.99801373  0.05120979] yaw=-157.8deg
+[05/10 20:24:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:24:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78661525  0.30099203  0.05120979] yaw=157.6deg
+[05/10 20:24:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:24:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:24:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.5ms, total=137.6ms
+[05/10 20:24:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.738, 0.968, 0.051)
+[05/10 20:24:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.6 deg
+[05/10 20:24:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.080m
+[05/10 20:24:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:24:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:24:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:24:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:24:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 20:24:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
+[05/10 20:24:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:24:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:24:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 20:24:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.716s, found feasible grasp: True
+[05/10 20:24:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.653[m] 86.753[deg]
+[05/10 20:24:24 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:24:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:24:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:24:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:24:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:24:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:24:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:24:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:24:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:24:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:24:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:24:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 20:24:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:24:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:24:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021149m
+[05/10 20:24:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:24:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:24:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:24:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:24:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8639952   0.71136026  0.02114949] yaw=-158.6deg
+[05/10 20:24:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:24:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:24:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:24:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:24:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88837796  0.76345529  0.02114949] yaw=-151.7deg
+[05/10 20:24:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:24:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70002424  0.54065946  0.02114949] yaw=-176.5deg
+[05/10 20:24:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:24:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:24:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.7ms
+[05/10 20:24:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.711, 0.021)
+[05/10 20:24:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.6 deg
+[05/10 20:24:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.869m
+[05/10 20:24:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:24:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:24:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:24:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:24:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:24:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 20:24:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 20:24:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:24:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:24:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 20:24:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
+[05/10 20:24:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.419[m] 86.908[deg]
+[05/10 20:24:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:24:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:25:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:25:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:27:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:27:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:27:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:27:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:27:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:27:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:27:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.53s (batch: 4.18s, save: 8.35s)
+[05/10 20:27:52 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=1.95s:
+  episode_total: mean=76.36s, total=305.44s, count=4, min=2247.4ms, max=206557.4ms
+  sensor_polling: mean=519.2ms, total=234.69s, count=452, min=450.6ms, max=1042.7ms
+  physics_step: mean=25.2ms, total=11.40s, count=452, min=16.3ms, max=97.7ms
+  save_trajectories: mean=8.35s, total=8.35s, count=1, min=8350.2ms, max=8350.2ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4176.7ms, max=4176.7ms
+  task_sampling: mean=487.9ms, total=1.95s, count=4, min=398.8ms, max=577.9ms
+  task_specific_sample: mean=484.4ms, total=1.94s, count=4, min=395.8ms, max=574.6ms
+  scene_randomize: mean=1.7ms, total=6.6ms, count=4, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=435.6us, total=1.7ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.4us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+[05/10 20:27:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:27:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:27:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:27:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:27:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:27:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:27:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:27:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:27:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:27:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:27:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
+[05/10 20:27:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:27:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:27:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059389m
+[05/10 20:27:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:27:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:27:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:27:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78990939  0.83772471  0.05938926] yaw=-150.5deg
+[05/10 20:27:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:27:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:27:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01370978  1.11908092  0.05938926] yaw=-135.2deg
+[05/10 20:27:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:27:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:27:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:27:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.91766541  0.97892175  0.05938926] yaw=-143.8deg
+[05/10 20:27:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:27:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:27:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.5ms, total=217.6ms
+[05/10 20:27:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.790, 0.838, 0.059)
+[05/10 20:27:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg
+[05/10 20:27:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.979m
+[05/10 20:27:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:27:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:27:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:27:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:27:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:27:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 20:27:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.151s
+[05/10 20:27:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:27:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:27:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps
+[05/10 20:27:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.312s, found feasible grasp: True
+[05/10 20:27:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.556[m] 89.059[deg]
+[05/10 20:27:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:27:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:27:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:29:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:29:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:29:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:30:48 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:31:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:31:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:31:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:31:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:31:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:31:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.65s (batch: 4.19s, save: 10.46s)
+[05/10 20:31:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.58s:
+  episode_total: mean=210.00s, total=210.00s, count=1, min=210001.9ms, max=210001.9ms
+  sensor_polling: mean=532.8ms, total=159.83s, count=300, min=449.6ms, max=1004.7ms
+  save_trajectories: mean=10.46s, total=10.46s, count=1, min=10461.8ms, max=10461.8ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=18.0ms, max=98.6ms
+  save_batch_prep: mean=4.19s, total=4.19s, count=1, min=4188.2ms, max=4188.2ms
+  task_sampling: mean=576.1ms, total=576.1ms, count=1, min=576.1ms, max=576.1ms
+  task_specific_sample: mean=571.0ms, total=571.0ms, count=1, min=571.0ms, max=571.0ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=619.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:31:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:31:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:31:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:31:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:31:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:31:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:31:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:31:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:31:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:31:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:31:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 20:31:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:31:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:31:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012497m
+[05/10 20:31:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:31:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:31:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:31:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:31:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:31:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:31:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:31:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70668854  0.85565068  0.01249682] yaw=-164.7deg
+[05/10 20:31:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:31:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.87570034  0.12019713  0.01249682] yaw=149.7deg
+[05/10 20:31:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:31:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.997197    1.17193451  0.01249682] yaw=-133.5deg
+[05/10 20:31:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:31:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:31:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=329.6ms, total=329.7ms
+[05/10 20:31:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.856, 0.012)
+[05/10 20:31:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.7 deg
+[05/10 20:31:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.063m
+[05/10 20:31:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:31:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:31:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:31:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:31:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:31:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 20:31:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 20:31:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:31:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:31:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 20:31:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.874s, found feasible grasp: True
+[05/10 20:31:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.659[m] 90.006[deg]
+[05/10 20:31:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:32:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:32:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:33:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:34:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:34:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:34:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 2/4: 1 episodes
+[05/10 20:34:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:34:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:34:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:34:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.35s (batch: 4.10s, save: 8.25s)
+[05/10 20:34:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.62s:
+  episode_total: mean=207.56s, total=207.56s, count=1, min=207563.8ms, max=207563.8ms
+  sensor_polling: mean=524.8ms, total=157.43s, count=300, min=440.4ms, max=999.7ms
+  save_trajectories: mean=8.25s, total=8.25s, count=1, min=8245.4ms, max=8245.4ms
+  physics_step: mean=25.6ms, total=7.68s, count=300, min=18.5ms, max=65.9ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4099.7ms, max=4099.7ms
+  task_sampling: mean=617.8ms, total=617.8ms, count=1, min=617.8ms, max=617.8ms
+  task_specific_sample: mean=613.2ms, total=613.2ms, count=1, min=613.2ms, max=613.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=555.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:34:55 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
+[05/10 20:34:55 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
+[05/10 20:34:55 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/12 successful episodes
+[05/10 20:34:55 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/12 successful, 12 episodes, total_time=5446.50s
+  House averages:
+  episode_total: mean=165.16s, total=2972.89s, count=18, min=2247.4ms, max=268737.2ms
+  sensor_polling: mean=516.7ms, total=2171.16s, count=4202, min=425.7ms, max=1042.7ms
+  save_trajectories: mean=9.57s, total=114.90s, count=12, min=8245.4ms, max=12835.3ms
+  physics_step: mean=25.1ms, total=105.53s, count=4202, min=13.3ms, max=125.1ms
+  save_batch_prep: mean=4.37s, total=52.42s, count=12, min=3851.9ms, max=5192.6ms
+  task_sampling: mean=715.9ms, total=12.89s, count=18, min=353.9ms, max=3366.7ms
+  task_specific_sample: mean=549.0ms, total=9.88s, count=18, min=349.9ms, max=797.5ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
+  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
+  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
+  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
+  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
+  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  scene_randomize: mean=2.4ms, total=43.3ms, count=18, min=1.2ms, max=3.5ms
+  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
+  mj_forward_sync: mean=732.9us, total=13.2ms, count=18, min=0.4ms, max=4.6ms
+  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 20:34:55 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 20:34:55 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5446.50s
+  Worker averages:
+  episode_total: mean=165.16s, total=2972.89s, count=18, min=2247.4ms, max=268737.2ms
+  sensor_polling: mean=516.7ms, total=2171.16s, count=4202, min=425.7ms, max=1042.7ms
+  save_trajectories: mean=9.57s, total=114.90s, count=12, min=8245.4ms, max=12835.3ms
+  physics_step: mean=25.1ms, total=105.53s, count=4202, min=13.3ms, max=125.1ms
+  save_batch_prep: mean=4.37s, total=52.42s, count=12, min=3851.9ms, max=5192.6ms
+  task_sampling: mean=715.9ms, total=12.89s, count=18, min=353.9ms, max=3366.7ms
+  task_specific_sample: mean=549.0ms, total=9.88s, count=18, min=349.9ms, max=797.5ms
+  scene_load: mean=2.93s, total=2.93s, count=1, min=2927.5ms, max=2927.5ms
+  scene_env_create: mean=1.98s, total=1.98s, count=1, min=1981.5ms, max=1981.5ms
+  scene_compile: mean=791.3ms, total=791.3ms, count=1, min=791.3ms, max=791.3ms
+  compile_mujoco: mean=572.7ms, total=572.7ms, count=1, min=572.7ms, max=572.7ms
+  compile_xml_load: mean=156.5ms, total=156.5ms, count=1, min=156.5ms, max=156.5ms
+  scene_asset_install: mean=85.1ms, total=85.1ms, count=1, min=85.1ms, max=85.1ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  asset_install_grasps: mean=53.7ms, total=53.7ms, count=1, min=53.7ms, max=53.7ms
+  compile_aux_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  compile_aux_policy_objects: mean=46.4ms, total=46.4ms, count=1, min=46.4ms, max=46.4ms
+  scene_randomize: mean=2.4ms, total=43.3ms, count=18, min=1.2ms, max=3.5ms
+  asset_install_objects: mean=21.2ms, total=21.2ms, count=1, min=21.2ms, max=21.2ms
+  mj_forward_sync: mean=732.9us, total=13.2ms, count=18, min=0.4ms, max=4.6ms
+  asset_install_scene: mean=10.2ms, total=10.2ms, count=1, min=10.2ms, max=10.2ms
+  compile_robot_add: mean=6.7ms, total=6.7ms, count=1, min=6.7ms, max=6.7ms
+  policy_setup: mean=20.6us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 20:34:58 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 20:34:58 INFO pipeline.py:1491] Success count: 12, Total count: 12
+[05/10 20:34:58 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_007
+==========================================
diff --git a/fridge_7/chunk_007/shard_3_of_4.log b/fridge_7/chunk_007/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..6c35b55ef1b32ff1d5d562b61a3ee0abdaebf35b
--- /dev/null
+++ b/fridge_7/chunk_007/shard_3_of_4.log
@@ -0,0 +1,1786 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_007
+  shard=3/4  seed=20703  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:44:50 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 19:44:50 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 19:44:50 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_007'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 19:44:50 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7eae3aabc850>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20703,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:44:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 19:44:50 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 19:44:50 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 139286772202064 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 139286772202064 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 139286772202064 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 139286772202064 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 139286772919568 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139286772919568 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139286772920080 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139286772920080 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139286772920080 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139286772920080 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139286772919568 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139286772919568 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139286772254288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139286772254288 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 139286772263120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139286772263120 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 139286772263120 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 139286772263120 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 139286772254288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 139286772254288 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 19:44:50 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 651d3c534780 at 0x7eae3b02f650>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 651d3c562320 at 0x7eae3a7be950>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 651d3c562320 at 0x7eae3afc6310>
+[05/10 19:44:52 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:44:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
+[05/10 19:44:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:44:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:44:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018409m
+[05/10 19:44:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:44:52 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 19:44:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74968595  0.78148478  0.01840942] yaw=-167.8deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92929802  0.83406204  0.01840942] yaw=-162.0deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:44:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92112802  0.86820348  0.01840942] yaw=-144.8deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:44:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:44:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=48.9ms, retries=171.7ms, total=220.7ms
+[05/10 19:44:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.781, 0.018)
+[05/10 19:44:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg
+[05/10 19:44:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.999m
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:44:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:44:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:44:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 19:45:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 26.599s
+[05/10 19:45:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:45:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:45:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 19:45:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
+[05/10 19:45:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.532[m] 85.497[deg]
+[05/10 19:45:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:46:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:46:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:46:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:48:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 19:48:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:48:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 19:48:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:48:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 19:48:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:48:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.91s (batch: 3.87s, save: 9.04s)
+[05/10 19:48:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.25s:
+  episode_total: mean=230.32s, total=230.32s, count=1, min=230324.3ms, max=230324.3ms
+  sensor_polling: mean=515.8ms, total=154.75s, count=300, min=439.0ms, max=760.0ms
+  save_trajectories: mean=9.04s, total=9.04s, count=1, min=9039.2ms, max=9039.2ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=17.6ms, max=78.8ms
+  save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3871.6ms, max=3871.6ms
+  task_sampling: mean=3.25s, total=3.25s, count=1, min=3245.1ms, max=3245.1ms
+  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
+  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
+  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
+  task_specific_sample: mean=526.7ms, total=526.7ms, count=1, min=526.7ms, max=526.7ms
+  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
+  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
+  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
+  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=636.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=25.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:48:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:48:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:48:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:48:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:48:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:48:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:48:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:48:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:48:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:48:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:48:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
+[05/10 19:48:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:48:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:48:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064530m
+[05/10 19:48:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:48:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:48:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:48:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77937936  0.2091806   0.06453014] yaw=174.4deg
+[05/10 19:48:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:48:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:48:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.91729657  0.55505217  0.06453014] yaw=-170.5deg
+[05/10 19:48:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:48:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:48:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:48:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90906542  0.52777162  0.06453014] yaw=-166.6deg
+[05/10 19:48:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:48:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:48:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.4ms, total=253.5ms
+[05/10 19:48:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.779, 0.209, 0.065)
+[05/10 19:48:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.4 deg
+[05/10 19:48:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m
+[05/10 19:48:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:48:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:48:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:48:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:48:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:48:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 19:48:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.067s
+[05/10 19:48:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:48:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:48:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 19:48:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.903s, found feasible grasp: True
+[05/10 19:48:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.501[m] 80.899[deg]
+[05/10 19:48:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:48:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:48:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:49:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:49:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:49:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:51:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:51:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:51:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:51:33 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:51:33 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:51:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:51:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:51:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 19:51:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.417s, found feasible grasp: True
+[05/10 19:51:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.677[deg]
+[05/10 19:51:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:51:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:51:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:51:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:51:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:51:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:51:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:51:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:51:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:52:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:52:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 19:52:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:52:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:52:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:52:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 17.46s (batch: 4.34s, save: 13.11s)
+[05/10 19:52:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=233.18s, total=233.18s, count=1, min=233175.8ms, max=233175.8ms
+  sensor_polling: mean=525.1ms, total=157.53s, count=300, min=456.4ms, max=1016.9ms
+  save_trajectories: mean=13.11s, total=13.11s, count=1, min=13112.4ms, max=13112.4ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.3ms, max=74.4ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4344.6ms, max=4344.6ms
+  task_sampling: mean=504.3ms, total=504.3ms, count=1, min=504.3ms, max=504.3ms
+  task_specific_sample: mean=499.7ms, total=499.7ms, count=1, min=499.7ms, max=499.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=586.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:52:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:52:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:52:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:52:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:52:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:52:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:52:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:52:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
+[05/10 19:52:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:52:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:52:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095905m
+[05/10 19:52:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:52:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:52:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0493087   1.23462005  0.09590478] yaw=-134.2deg
+[05/10 19:52:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:52:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:52:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.4ms, total=211.4ms
+[05/10 19:52:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.049, 1.235, 0.096)
+[05/10 19:52:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.2 deg
+[05/10 19:52:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
+[05/10 19:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:52:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:52:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 19:52:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 19:52:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:52:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:52:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 19:52:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.378s, found feasible grasp: True
+[05/10 19:52:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.587[m] 87.295[deg]
+[05/10 19:52:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:53:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:53:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:54:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:54:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:54:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:54:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:54:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:54:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:54:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:54:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:54:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:54:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:54:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:54:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 80 non-colliding grasps
+[05/10 19:54:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 1.563s, found feasible grasp: True
+[05/10 19:54:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.105[m] 0.542[deg]
+[05/10 19:54:52 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:54:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:55:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:55:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:55:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:55:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:55:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:55:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:55:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:55:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:55:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 19:55:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:55:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:55:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps
+[05/10 19:55:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.677s, found feasible grasp: True
+[05/10 19:55:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.112[deg]
+[05/10 19:55:45 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:55:47 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:55:47 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:55:47 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:55:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:55:47 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:55:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:55:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:55:47 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:55:47 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:55:47 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:55:47 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
+[05/10 19:55:47 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:55:47 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:55:47 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063309m
+[05/10 19:55:47 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:55:47 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:55:47 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:55:47 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68542771  0.23839162  0.06330891] yaw=165.5deg
+[05/10 19:55:47 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:55:47 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:55:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:55:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 152.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:55:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:55:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.67650864  0.84597771  0.06330891] yaw=-169.2deg
+[05/10 19:55:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:55:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93712728  0.12622628  0.06330891] yaw=162.9deg
+[05/10 19:55:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:55:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:55:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=464.5ms, total=464.6ms
+[05/10 19:55:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.685, 0.238, 0.063)
+[05/10 19:55:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.5 deg
+[05/10 19:55:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.046m
+[05/10 19:55:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:55:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:55:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:55:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:55:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:55:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 19:55:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/10 19:55:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:55:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:55:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps
+[05/10 19:55:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.386s, found feasible grasp: True
+[05/10 19:55:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.580[m] 87.823[deg]
+[05/10 19:55:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:55:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:55:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:56:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:57:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:58:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:59:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:59:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 19:59:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:59:27 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:59:27 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:59:27 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.80s (batch: 4.50s, save: 9.30s)
+[05/10 19:59:28 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.49s:
+  episode_total: mean=204.37s, total=408.74s, count=2, min=188538.8ms, max=220197.6ms
+  sensor_polling: mean=520.9ms, total=305.25s, count=586, min=430.0ms, max=940.4ms
+  physics_step: mean=25.7ms, total=15.04s, count=586, min=16.3ms, max=81.1ms
+  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9300.7ms, max=9300.7ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4496.4ms, max=4496.4ms
+  task_sampling: mean=747.3ms, total=1.49s, count=2, min=496.9ms, max=997.6ms
+  task_specific_sample: mean=743.4ms, total=1.49s, count=2, min=493.1ms, max=993.7ms
+  scene_randomize: mean=2.2ms, total=4.5ms, count=2, min=1.9ms, max=2.6ms
+  mj_forward_sync: mean=505.3us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 19:59:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:59:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:59:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:59:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:59:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:59:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:59:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:59:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 19:59:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:59:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:59:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.044079m
+[05/10 19:59:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:59:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:59:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:59:30 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 95.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.91753044  0.36050493  0.04407938] yaw=161.8deg
+[05/10 19:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.01074433  1.01476988  0.04407938] yaw=-136.8deg
+[05/10 19:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:59:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98221381  1.28539408  0.04407938] yaw=-124.8deg
+[05/10 19:59:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:59:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:59:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.6ms, total=186.6ms
+[05/10 19:59:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.361, 0.044)
+[05/10 19:59:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 161.8 deg
+[05/10 19:59:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.794m
+[05/10 19:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:59:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:59:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:59:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 19:59:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.139s
+[05/10 19:59:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:59:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:59:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps
+[05/10 19:59:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True
+[05/10 19:59:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.414[m] 101.311[deg]
+[05/10 19:59:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:59:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:00:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:00:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:00:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:01:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:01:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:01:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:01:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:01:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:01:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:01:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:01:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:01:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:01:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:01:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
+[05/10 20:01:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.372s, found feasible grasp: True
+[05/10 20:01:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.727[deg]
+[05/10 20:01:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:01:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:01:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:01:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:01:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:01:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:02:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:03:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:03:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:03:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:03:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:03:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:03:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 17.33s (batch: 4.34s, save: 12.98s)
+[05/10 20:03:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.52s:
+  episode_total: mean=236.10s, total=236.10s, count=1, min=236103.7ms, max=236103.7ms
+  sensor_polling: mean=526.2ms, total=157.86s, count=300, min=454.9ms, max=930.3ms
+  save_trajectories: mean=12.98s, total=12.98s, count=1, min=12983.0ms, max=12983.0ms
+  physics_step: mean=26.4ms, total=7.91s, count=300, min=13.9ms, max=70.1ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4342.6ms, max=4342.6ms
+  task_sampling: mean=515.0ms, total=515.0ms, count=1, min=515.0ms, max=515.0ms
+  task_specific_sample: mean=510.1ms, total=510.1ms, count=1, min=510.1ms, max=510.1ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=576.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=30.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:03:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:03:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:03:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:03:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:03:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:03:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:03:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
+[05/10 20:03:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:03:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:03:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048792m
+[05/10 20:03:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:03:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:03:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:03:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84791331  0.27606438  0.04879247] yaw=166.0deg
+[05/10 20:03:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:03:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76904877  0.6297212   0.04879247] yaw=-169.7deg
+[05/10 20:03:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 122.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:03:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.68595704  0.32253765  0.04879247] yaw=171.8deg
+[05/10 20:03:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:03:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:03:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=503.5ms, total=503.6ms
+[05/10 20:03:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.848, 0.276, 0.049)
+[05/10 20:03:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.0 deg
+[05/10 20:03:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.879m
+[05/10 20:03:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:03:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:03:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:03:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:03:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:03:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 20:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 20:03:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:03:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:03:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 20:03:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.571s, found feasible grasp: True
+[05/10 20:03:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.384[m] 82.342[deg]
+[05/10 20:03:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:04:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:04:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:05:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:05:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:05:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:05:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:05:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:05:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:05:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:05:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:05:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps
+[05/10 20:05:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.448s, found feasible grasp: True
+[05/10 20:05:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.911[deg]
+[05/10 20:05:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:05:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:05:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:05:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:06:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:06:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:06:34 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:06:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:06:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:06:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:07:13 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:07:13 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:07:13 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.36s (batch: 4.40s, save: 9.96s)
+[05/10 20:07:13 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.82s:
+  episode_total: mean=225.86s, total=225.86s, count=1, min=225857.7ms, max=225857.7ms
+  sensor_polling: mean=529.0ms, total=158.69s, count=300, min=461.1ms, max=1055.8ms
+  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9960.4ms, max=9960.4ms
+  physics_step: mean=27.8ms, total=8.33s, count=300, min=14.6ms, max=95.6ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4397.8ms, max=4397.8ms
+  task_sampling: mean=822.4ms, total=822.4ms, count=1, min=822.4ms, max=822.4ms
+  task_specific_sample: mean=817.4ms, total=817.4ms, count=1, min=817.4ms, max=817.4ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=634.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:07:15 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:07:15 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:07:15 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:07:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:07:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:07:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:07:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:07:15 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:07:15 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:07:15 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:07:15 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
+[05/10 20:07:15 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:07:15 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:07:15 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018348m
+[05/10 20:07:15 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:07:15 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:07:15 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:07:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:07:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87129868  0.73423169  0.01834826] yaw=-167.5deg
+[05/10 20:07:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:07:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77306469  0.26893947  0.01834826] yaw=172.5deg
+[05/10 20:07:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:07:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:07:15 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:07:15 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.01722966  0.89339816  0.01834826] yaw=-147.9deg
+[05/10 20:07:15 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:07:15 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:07:15 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=190.0ms, total=190.0ms
+[05/10 20:07:15 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.871, 0.734, 0.018)
+[05/10 20:07:15 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.5 deg
+[05/10 20:07:15 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.868m
+[05/10 20:07:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:07:15 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:07:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:07:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:07:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:07:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 20:07:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 20:07:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:07:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:07:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 20:07:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.592s, found feasible grasp: True
+[05/10 20:07:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.461[m] 100.600[deg]
+[05/10 20:07:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:08:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:10:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:10:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:10:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:10:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:10:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:10:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:10:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.83s (batch: 4.10s, save: 8.74s)
+[05/10 20:10:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.53s:
+  episode_total: mean=205.22s, total=205.22s, count=1, min=205222.3ms, max=205222.3ms
+  sensor_polling: mean=522.3ms, total=156.69s, count=300, min=452.0ms, max=899.3ms
+  save_trajectories: mean=8.74s, total=8.74s, count=1, min=8735.9ms, max=8735.9ms
+  physics_step: mean=26.8ms, total=8.04s, count=300, min=15.8ms, max=65.5ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4096.4ms, max=4096.4ms
+  task_sampling: mean=526.1ms, total=526.1ms, count=1, min=526.1ms, max=526.1ms
+  task_specific_sample: mean=521.9ms, total=521.9ms, count=1, min=521.9ms, max=521.9ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=440.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:10:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:10:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:10:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:10:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:10:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:10:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:10:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:10:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:10:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:10:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:10:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 20:10:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:10:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:10:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056383m
+[05/10 20:10:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:10:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:10:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:10:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:10:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86354097  0.64512573  0.05638315] yaw=-161.2deg
+[05/10 20:10:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:10:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.02717345  1.13850148  0.05638315] yaw=-139.3deg
+[05/10 20:10:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:10:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:10:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:10:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87215456  0.62337265  0.05638315] yaw=-167.1deg
+[05/10 20:10:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:10:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:10:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.9ms, total=149.0ms
+[05/10 20:10:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.864, 0.645, 0.056)
+[05/10 20:10:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.2 deg
+[05/10 20:10:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.855m
+[05/10 20:10:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:10:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:10:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:10:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:10:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:10:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 20:10:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 20:10:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:10:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:10:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 20:10:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.699s, found feasible grasp: True
+[05/10 20:10:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.389[m] 82.836[deg]
+[05/10 20:10:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:10:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:11:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:13:32 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:13:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:13:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:13:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
+[05/10 20:14:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:14:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:14:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.41s (batch: 4.03s, save: 8.38s)
+[05/10 20:14:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
+  episode_total: mean=203.87s, total=203.87s, count=1, min=203870.5ms, max=203870.5ms
+  sensor_polling: mean=518.9ms, total=155.15s, count=299, min=440.2ms, max=869.5ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8377.2ms, max=8377.2ms
+  physics_step: mean=25.1ms, total=7.50s, count=299, min=15.4ms, max=45.9ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4029.7ms, max=4029.7ms
+  task_sampling: mean=519.1ms, total=519.1ms, count=1, min=519.1ms, max=519.1ms
+  task_specific_sample: mean=514.7ms, total=514.7ms, count=1, min=514.7ms, max=514.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=504.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:14:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:14:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:14:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:14:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:14:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:14:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:14:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:14:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:14:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:14:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:14:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.059m, effective arm-mount z=0.919m (base_body_z=0.059m, pedestal_h=0.860m)
+[05/10 20:14:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:14:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:14:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.059493m
+[05/10 20:14:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:14:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:14:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:14:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88471718  0.98891332  0.05949306] yaw=-138.4deg
+[05/10 20:14:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:14:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7178964   0.11882213  0.05949306] yaw=158.2deg
+[05/10 20:14:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:14:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88644938  0.72659243  0.05949306] yaw=-156.5deg
+[05/10 20:14:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:14:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:14:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.5ms, total=82.5ms
+[05/10 20:14:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.989, 0.059)
+[05/10 20:14:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg
+[05/10 20:14:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.962m
+[05/10 20:14:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:14:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:14:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:14:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:14:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:14:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 20:14:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.113s
+[05/10 20:14:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:14:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:14:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps
+[05/10 20:14:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.591s, found feasible grasp: True
+[05/10 20:14:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.524[m] 86.045[deg]
+[05/10 20:14:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:15:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:15:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:15:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:16:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:17:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:17:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:17:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:17:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:17:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:17:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.24s (batch: 4.17s, save: 8.08s)
+[05/10 20:17:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.41s:
+  episode_total: mean=205.31s, total=205.31s, count=1, min=205308.1ms, max=205308.1ms
+  sensor_polling: mean=519.3ms, total=155.80s, count=300, min=443.4ms, max=1083.2ms
+  save_trajectories: mean=8.08s, total=8.08s, count=1, min=8077.3ms, max=8077.3ms
+  physics_step: mean=25.6ms, total=7.69s, count=300, min=18.5ms, max=72.4ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4166.2ms, max=4166.2ms
+  task_sampling: mean=408.3ms, total=408.3ms, count=1, min=408.3ms, max=408.3ms
+  task_specific_sample: mean=404.4ms, total=404.4ms, count=1, min=404.4ms, max=404.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:17:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:17:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:17:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:17:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:17:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:17:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:17:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:17:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:17:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:17:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:17:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
+[05/10 20:17:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:17:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:17:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006236m
+[05/10 20:17:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:17:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:17:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:35 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.69326567  0.87891251  0.00623648] yaw=-163.2deg
+[05/10 20:17:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:17:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.67747115  0.73378534  0.00623648] yaw=-155.1deg
+[05/10 20:17:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:17:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:17:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=256.1ms, total=256.1ms
+[05/10 20:17:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.693, 0.879, 0.006)
+[05/10 20:17:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.2 deg
+[05/10 20:17:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.084m
+[05/10 20:17:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:17:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:17:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:17:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:17:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:17:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 20:17:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 20:17:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:17:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:17:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 20:17:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.733s, found feasible grasp: True
+[05/10 20:17:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.658[m] 90.043[deg]
+[05/10 20:17:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:17:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:17:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:17:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:17:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:17:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:17:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:17:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:17:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:17:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:17:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:17:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/10 20:17:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:17:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:17:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097137m
+[05/10 20:17:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:17:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:17:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:17:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02393191  0.84978143  0.09713699] yaw=-155.2deg
+[05/10 20:17:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:17:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8552833   0.51619355  0.09713699] yaw=-175.2deg
+[05/10 20:17:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:17:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.97405118  1.1302358   0.09713699] yaw=-138.3deg
+[05/10 20:17:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:17:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:17:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.0ms, total=231.1ms
+[05/10 20:17:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.024, 0.850, 0.097)
+[05/10 20:17:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -155.2 deg
+[05/10 20:17:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.772m
+[05/10 20:17:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:17:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:17:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:17:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:17:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:17:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 20:17:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 20:17:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:17:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:17:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:17:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.572s, found feasible grasp: True
+[05/10 20:17:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.358[m] 85.103[deg]
+[05/10 20:17:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:17:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:18:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:18:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:18:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:20:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:20:33 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:20:33 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:20:33 Worker 0 INFO save_utils.py:278] Preparing episode data: 294 timesteps
+[05/10 20:20:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:20:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:20:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.92s (batch: 4.26s, save: 8.65s)
+[05/10 20:20:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.08s:
+  episode_total: mean=95.32s, total=190.63s, count=2, min=3476.5ms, max=187155.9ms
+  sensor_polling: mean=486.8ms, total=142.64s, count=293, min=453.7ms, max=749.3ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8652.9ms, max=8652.9ms
+  physics_step: mean=22.6ms, total=6.63s, count=293, min=16.6ms, max=55.9ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4262.4ms, max=4262.4ms
+  task_sampling: mean=538.3ms, total=1.08s, count=2, min=521.0ms, max=555.6ms
+  task_specific_sample: mean=534.5ms, total=1.07s, count=2, min=517.9ms, max=551.1ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=445.3us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:20:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:20:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:20:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:20:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:20:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:20:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:20:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:20:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:20:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:20:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:20:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
+[05/10 20:20:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:20:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:20:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080733m
+[05/10 20:20:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:20:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:20:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:20:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.8959144   0.39965657  0.08073316] yaw=176.8deg
+[05/10 20:20:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:20:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81870014  0.53109804  0.08073316] yaw=-181.0deg
+[05/10 20:20:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:20:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.6482055   0.50628574  0.08073316] yaw=-188.7deg
+[05/10 20:20:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:20:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:20:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.6ms, total=127.6ms
+[05/10 20:20:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.896, 0.400, 0.081)
+[05/10 20:20:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 176.8 deg
+[05/10 20:20:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m
+[05/10 20:20:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:20:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:20:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:20:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:20:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:20:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 20:20:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 20:20:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:20:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:20:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 20:20:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.478s, found feasible grasp: True
+[05/10 20:20:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.342[m] 85.876[deg]
+[05/10 20:20:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:20:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:21:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:21:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:21:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:22:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:22:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:22:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:22:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:22:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:22:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:22:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:22:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:22:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:22:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:22:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:22:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:22:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
+[05/10 20:22:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.385s, found feasible grasp: True
+[05/10 20:22:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.570[deg]
+[05/10 20:22:40 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:22:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:22:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:22:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:22:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)
+[05/10 20:22:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:22:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:22:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039093m
+[05/10 20:22:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:22:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:22:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 126.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.65915256  0.1350582   0.03909308] yaw=162.1deg
+[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:22:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 116.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.92861816  0.4686103   0.03909308] yaw=182.2deg
+[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:22:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85250587  1.11219742  0.03909308] yaw=-154.3deg
+[05/10 20:22:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:22:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:22:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.9ms, total=169.9ms
+[05/10 20:22:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.659, 0.135, 0.039)
+[05/10 20:22:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.1 deg
+[05/10 20:22:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:22:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:22:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:22:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 20:22:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 20:22:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:22:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:22:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 20:22:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.136s, found feasible grasp: True
+[05/10 20:22:43 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.699[m] 103.046[deg]
+[05/10 20:22:43 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:22:44 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:22:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:24:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:24:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:24:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:24:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:24:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:24:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:24:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:24:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:24:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:24:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:24:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 20:24:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.431s, found feasible grasp: True
+[05/10 20:24:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.184[deg]
+[05/10 20:24:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:24:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:25:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:25:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:25:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:25:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False
+[05/10 20:25:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=False episode_total=0.87s:
+  episode_total: mean=146.33s, total=292.66s, count=2, min=111387.6ms, max=181271.8ms
+  sensor_polling: mean=497.3ms, total=244.67s, count=492, min=445.8ms, max=847.8ms
+  physics_step: mean=23.8ms, total=11.70s, count=492, min=14.5ms, max=81.0ms
+  task_sampling: mean=435.2ms, total=870.3ms, count=2, min=420.0ms, max=450.4ms
+  task_specific_sample: mean=431.1ms, total=862.3ms, count=2, min=416.3ms, max=446.0ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=2.0ms, max=2.4ms
+  mj_forward_sync: mean=552.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:25:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:25:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:25:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:25:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:25:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:25:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:25:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)
+[05/10 20:25:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:25:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:25:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076943m
+[05/10 20:25:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:25:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:25:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 116.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69991331  0.91144182  0.0769429 ] yaw=-150.5deg
+[05/10 20:25:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:25:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80950004  0.57543817  0.0769429 ] yaw=-163.1deg
+[05/10 20:25:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:25:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.91463289  0.15407389  0.0769429 ] yaw=146.9deg
+[05/10 20:25:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:25:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:25:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=712.4ms, total=712.5ms
+[05/10 20:25:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.700, 0.911, 0.077)
+[05/10 20:25:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg
+[05/10 20:25:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.091m
+[05/10 20:25:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:25:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:25:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:25:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:25:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:25:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 20:25:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.150s
+[05/10 20:25:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:25:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:25:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.135s, found 88 non-colliding grasps
+[05/10 20:25:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.994s, found feasible grasp: True
+[05/10 20:25:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.672[m] 94.128[deg]
+[05/10 20:25:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:25:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:25:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:27:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:27:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:27:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:28:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:29:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:29:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:29:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:29:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:29:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:29:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 15.31s (batch: 6.02s, save: 9.29s)
+[05/10 20:29:18 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.09s:
+  episode_total: mean=212.85s, total=212.85s, count=1, min=212846.1ms, max=212846.1ms
+  sensor_polling: mean=515.9ms, total=154.77s, count=300, min=439.8ms, max=990.5ms
+  save_trajectories: mean=9.29s, total=9.29s, count=1, min=9289.3ms, max=9289.3ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=15.3ms, max=114.3ms
+  save_batch_prep: mean=6.02s, total=6.02s, count=1, min=6019.5ms, max=6019.5ms
+  task_sampling: mean=1.09s, total=1.09s, count=1, min=1089.6ms, max=1089.6ms
+  task_specific_sample: mean=1.09s, total=1.09s, count=1, min=1085.1ms, max=1085.1ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=631.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:29:20 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:29:20 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:29:20 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:29:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:29:20 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:29:20 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:29:20 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:29:20 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 20:29:20 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:29:20 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:29:20 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061030m
+[05/10 20:29:20 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:29:20 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:29:20 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:29:20 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87587662  0.07695893  0.06103033] yaw=154.5deg
+[05/10 20:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68943176  0.66044492  0.06103033] yaw=-180.6deg
+[05/10 20:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:29:20 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.17400029  1.13292563  0.06103033] yaw=-127.8deg
+[05/10 20:29:20 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:29:20 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:29:20 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.8ms
+[05/10 20:29:20 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.876, 0.077, 0.061)
+[05/10 20:29:20 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 154.5 deg
+[05/10 20:29:20 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
+[05/10 20:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:29:20 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:29:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:29:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 20:29:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
+[05/10 20:29:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:29:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:29:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 20:29:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.723s, found feasible grasp: True
+[05/10 20:29:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.466[m] 79.994[deg]
+[05/10 20:29:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:29:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:30:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:30:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:30:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:32:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:32:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:32:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:32:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:32:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:32:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:32:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:32:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:32:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:32:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:32:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.095s, found 72 non-colliding grasps
+[05/10 20:32:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 72 grasps in 1.081s, found feasible grasp: True
+[05/10 20:32:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 48 (originally 48): w/ 0.022[m] 2.323[deg]
+[05/10 20:32:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:32:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:32:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:32:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:32:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:32:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:32:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:32:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:32:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:32:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:32:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:32:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
+[05/10 20:32:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:32:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:32:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002786m
+[05/10 20:32:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:32:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:32:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 108.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 112.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0424516   1.14962844  0.00278648] yaw=-130.8deg
+[05/10 20:32:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:32:30 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.76309927 -0.02563752  0.00278648] yaw=161.1deg
+[05/10 20:32:30 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:32:30 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:32:30 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=351.7ms, total=351.8ms
+[05/10 20:32:30 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.042, 1.150, 0.003)
+[05/10 20:32:30 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg
+[05/10 20:32:30 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.939m
+[05/10 20:32:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:32:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:32:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:32:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:32:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:32:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 20:32:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.063s
+[05/10 20:32:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:32:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:32:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 20:32:33 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.357s, found feasible grasp: True
+[05/10 20:32:33 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.529[m] 87.157[deg]
+[05/10 20:32:35 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:32:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:32:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:32:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:32:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:32:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:32:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:32:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:32:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:32:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:32:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:32:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
+[05/10 20:32:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:32:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:32:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014864m
+[05/10 20:32:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:32:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:32:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:32:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89250689  1.00411072  0.01486406] yaw=-150.5deg
+[05/10 20:32:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:32:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:32:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.69865653  0.05965753  0.01486406] yaw=151.5deg
+[05/10 20:32:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:32:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.69817857  0.62716     0.01486406] yaw=-182.2deg
+[05/10 20:32:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:32:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:32:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.7ms, total=261.7ms
+[05/10 20:32:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 1.004, 0.015)
+[05/10 20:32:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.5 deg
+[05/10 20:32:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.964m
+[05/10 20:32:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:32:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:32:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:32:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:32:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:32:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 20:32:38 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 20:32:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:32:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:32:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 20:32:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.651s, found feasible grasp: True
+[05/10 20:32:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.576[m] 95.144[deg]
+[05/10 20:32:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:32:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:33:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:33:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:33:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:35:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:35:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:35:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:35:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:35:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:35:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:35:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 11.98s (batch: 3.84s, save: 8.15s)
+[05/10 20:35:54 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=1.71s:
+  episode_total: mean=130.16s, total=390.48s, count=3, min=5752.3ms, max=197097.2ms
+  sensor_polling: mean=509.7ms, total=292.57s, count=574, min=422.7ms, max=1066.4ms
+  physics_step: mean=24.0ms, total=13.80s, count=574, min=17.9ms, max=121.0ms
+  save_trajectories: mean=8.15s, total=8.15s, count=1, min=8145.5ms, max=8145.5ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3837.6ms, max=3837.6ms
+  task_sampling: mean=569.5ms, total=1.71s, count=3, min=527.6ms, max=642.9ms
+  task_specific_sample: mean=565.3ms, total=1.70s, count=3, min=523.6ms, max=639.0ms
+  scene_randomize: mean=1.9ms, total=5.8ms, count=3, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=528.1us, total=1.6ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 20:35:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:35:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:35:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:35:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:35:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:35:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:35:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:35:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:35:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:35:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:35:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.001m, effective arm-mount z=0.861m (base_body_z=0.001m, pedestal_h=0.860m)
+[05/10 20:35:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:35:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:35:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.001198m
+[05/10 20:35:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:35:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:35:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:35:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:35:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 94.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:35:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62053964  0.53992263  0.00119764] yaw=-177.3deg
+[05/10 20:35:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:35:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:35:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:35:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89362921  0.36861494  0.00119764] yaw=179.1deg
+[05/10 20:35:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:35:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81444606  0.35710162  0.00119764] yaw=176.4deg
+[05/10 20:35:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:35:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:35:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.7ms, total=222.8ms
+[05/10 20:35:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.621, 0.540, 0.001)
+[05/10 20:35:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.3 deg
+[05/10 20:35:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
+[05/10 20:35:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:35:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:35:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:35:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:35:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:35:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 20:35:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 20:35:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:35:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:35:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.040s, found 88 non-colliding grasps
+[05/10 20:35:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.921s, found feasible grasp: True
+[05/10 20:35:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.676[m] 95.374[deg]
+[05/10 20:35:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:35:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:35:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:37:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:37:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:37:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:38:30 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:38:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:38:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 3/4: 1 episodes
+[05/10 20:38:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:39:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:39:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:39:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.93s (batch: 4.35s, save: 9.58s)
+[05/10 20:39:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.52s:
+  episode_total: mean=190.00s, total=190.00s, count=1, min=190002.7ms, max=190002.7ms
+  sensor_polling: mean=476.1ms, total=142.84s, count=300, min=422.6ms, max=686.6ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9577.6ms, max=9577.6ms
+  physics_step: mean=21.4ms, total=6.42s, count=300, min=14.4ms, max=79.6ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4351.8ms, max=4351.8ms
+  task_sampling: mean=516.6ms, total=516.6ms, count=1, min=516.6ms, max=516.6ms
+  task_specific_sample: mean=512.1ms, total=512.1ms, count=1, min=512.1ms, max=512.1ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=522.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:39:07 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
+[05/10 20:39:07 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
+[05/10 20:39:07 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
+[05/10 20:39:07 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5918.11s
+  House averages:
+  episode_total: mean=179.18s, total=3225.22s, count=18, min=3476.5ms, max=236103.7ms
+  sensor_polling: mean=512.3ms, total=2379.21s, count=4644, min=422.6ms, max=1083.2ms
+  physics_step: mean=25.0ms, total=115.99s, count=4644, min=13.9ms, max=121.0ms
+  save_trajectories: mean=9.60s, total=115.25s, count=12, min=8077.3ms, max=13112.4ms
+  save_batch_prep: mean=4.35s, total=52.22s, count=12, min=3837.6ms, max=6019.5ms
+  task_sampling: mean=738.7ms, total=13.30s, count=18, min=408.3ms, max=3245.1ms
+  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=404.4ms, max=1085.1ms
+  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
+  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
+  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
+  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
+  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
+  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
+  mj_forward_sync: mean=531.3us, total=9.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 20:39:07 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 20:39:07 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5918.11s
+  Worker averages:
+  episode_total: mean=179.18s, total=3225.22s, count=18, min=3476.5ms, max=236103.7ms
+  sensor_polling: mean=512.3ms, total=2379.21s, count=4644, min=422.6ms, max=1083.2ms
+  physics_step: mean=25.0ms, total=115.99s, count=4644, min=13.9ms, max=121.0ms
+  save_trajectories: mean=9.60s, total=115.25s, count=12, min=8077.3ms, max=13112.4ms
+  save_batch_prep: mean=4.35s, total=52.22s, count=12, min=3837.6ms, max=6019.5ms
+  task_sampling: mean=738.7ms, total=13.30s, count=18, min=408.3ms, max=3245.1ms
+  task_specific_sample: mean=583.7ms, total=10.51s, count=18, min=404.4ms, max=1085.1ms
+  scene_load: mean=2.71s, total=2.71s, count=1, min=2714.5ms, max=2714.5ms
+  scene_env_create: mean=1.67s, total=1.67s, count=1, min=1668.5ms, max=1668.5ms
+  scene_compile: mean=824.1ms, total=824.1ms, count=1, min=824.1ms, max=824.1ms
+  compile_mujoco: mean=606.6ms, total=606.6ms, count=1, min=606.6ms, max=606.6ms
+  compile_xml_load: mean=154.3ms, total=154.3ms, count=1, min=154.3ms, max=154.3ms
+  scene_init: mean=139.2ms, total=139.2ms, count=1, min=139.2ms, max=139.2ms
+  scene_asset_install: mean=82.5ms, total=82.5ms, count=1, min=82.5ms, max=82.5ms
+  compile_aux_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  compile_aux_policy_objects: mean=47.2ms, total=47.2ms, count=1, min=47.2ms, max=47.2ms
+  scene_randomize: mean=2.4ms, total=42.9ms, count=18, min=1.2ms, max=3.4ms
+  asset_install_grasps: mean=40.0ms, total=40.0ms, count=1, min=40.0ms, max=40.0ms
+  asset_install_objects: mean=32.9ms, total=32.9ms, count=1, min=32.9ms, max=32.9ms
+  mj_forward_sync: mean=531.3us, total=9.6ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=9.6ms, total=9.6ms, count=1, min=9.6ms, max=9.6ms
+  compile_robot_add: mean=6.9ms, total=6.9ms, count=1, min=6.9ms, max=6.9ms
+  policy_setup: mean=20.9us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 20:39:10 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 20:39:10 INFO pipeline.py:1491] Success count: 12, Total count: 13
+[05/10 20:39:10 INFO pipeline.py:1492] Success rate: 92.31%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_007
+==========================================
diff --git a/fridge_7/chunk_007/shard_4_of_4.log b/fridge_7/chunk_007/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..745c87137fff612eb238b5fefebed38c40ee3e00
--- /dev/null
+++ b/fridge_7/chunk_007/shard_4_of_4.log
@@ -0,0 +1,1701 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_007
+  shard=4/4  seed=20704  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:44:49 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 19:44:49 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 19:44:49 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_007'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 19:44:49 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_007'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7bdac2d7c950>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20704,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:44:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 19:44:49 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 19:44:49 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 136179499016976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 136179499016976 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 136179499016976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 136179499016976 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 136179505132752 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136179505132752 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136179505133584 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136179505133584 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136179505133584 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136179505133584 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136179505132752 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136179505132752 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136179499037072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136179499037072 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 136179499029584 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136179499029584 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 136179499029584 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 136179499029584 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 136179499037072 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 136179499037072 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 19:44:49 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 6340bc55d980 at 0x7bdac319ec50>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6340bc58b520 at 0x7bdac2bad790>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6340bc58b520 at 0x7bdac332d110>
+[05/10 19:44:52 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 19:44:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:44:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:44:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
+[05/10 19:44:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:44:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:44:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068289m
+[05/10 19:44:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:44:52 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 19:44:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 114.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72708946  0.35574647  0.0682893 ] yaw=170.2deg
+[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:44:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.98115611  0.99723023  0.0682893 ] yaw=-154.9deg
+[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:44:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90074078  0.62346739  0.0682893 ] yaw=-163.5deg
+[05/10 19:44:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:44:52 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:44:52 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=13.7ms, retries=133.5ms, total=147.2ms
+[05/10 19:44:52 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.356, 0.068)
+[05/10 19:44:52 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg
+[05/10 19:44:52 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.983m
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:44:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:44:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 19:45:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.438s
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:45:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps
+[05/10 19:45:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.642s, found feasible grasp: True
+[05/10 19:45:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.567[m] 93.709[deg]
+[05/10 19:45:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:45:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:46:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:46:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:46:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:48:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:48:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:48:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:48:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 19:48:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 19:48:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 19:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 19:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 19:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:48:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:48:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:48:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
+[05/10 19:48:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.403s, found feasible grasp: True
+[05/10 19:48:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.960[deg]
+[05/10 19:48:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:48:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:48:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 19:48:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 19:48:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 19:48:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 19:48:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 19:48:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:48:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 19:48:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:49:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 19:49:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:49:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.79s (batch: 4.62s, save: 9.17s)
+[05/10 19:49:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.53s:
+  episode_total: mean=255.77s, total=255.77s, count=1, min=255768.9ms, max=255768.9ms
+  sensor_polling: mean=523.7ms, total=157.11s, count=300, min=428.4ms, max=849.4ms
+  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9167.3ms, max=9167.3ms
+  physics_step: mean=28.7ms, total=8.60s, count=300, min=14.9ms, max=93.6ms
+  save_batch_prep: mean=4.62s, total=4.62s, count=1, min=4621.6ms, max=4621.6ms
+  task_sampling: mean=3.53s, total=3.53s, count=1, min=3530.6ms, max=3530.6ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
+  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
+  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
+  task_specific_sample: mean=494.9ms, total=494.9ms, count=1, min=494.9ms, max=494.9ms
+  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
+  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
+  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
+  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=457.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=33.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:49:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:49:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:49:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:49:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:49:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:49:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:49:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:49:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:49:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:49:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:49:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.044m, effective arm-mount z=0.904m (base_body_z=0.044m, pedestal_h=0.860m)
+[05/10 19:49:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:49:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:49:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.043876m
+[05/10 19:49:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:49:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:49:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:49:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:49:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00292902  1.13075295  0.04387582] yaw=-126.0deg
+[05/10 19:49:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:49:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:49:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:49:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93287159  1.07000864  0.04387582] yaw=-136.3deg
+[05/10 19:49:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:49:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.97710951  1.01034935  0.04387582] yaw=-140.9deg
+[05/10 19:49:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:49:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:49:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.0ms, total=140.1ms
+[05/10 19:49:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.003, 1.131, 0.044)
+[05/10 19:49:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.0 deg
+[05/10 19:49:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
+[05/10 19:49:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:49:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:49:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:49:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:49:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:49:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 19:49:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 19:49:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:49:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:49:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 19:49:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 5.557s, found feasible grasp: True
+[05/10 19:49:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.556[m] 80.154[deg]
+[05/10 19:49:13 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:50:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:50:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:50:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 19:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 19:50:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:50:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:50:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
+[05/10 19:50:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.519s, found feasible grasp: True
+[05/10 19:50:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.606[deg]
+[05/10 19:50:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:50:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:50:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:50:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:51:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:51:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:51:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:52:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:52:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 19:52:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:52:38 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:52:38 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:52:38 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 16.55s (batch: 5.01s, save: 11.54s)
+[05/10 19:52:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.45s:
+  episode_total: mean=212.32s, total=212.32s, count=1, min=212319.4ms, max=212319.4ms
+  sensor_polling: mean=508.1ms, total=152.43s, count=300, min=443.6ms, max=1214.5ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11543.9ms, max=11543.9ms
+  physics_step: mean=24.7ms, total=7.41s, count=300, min=17.3ms, max=99.0ms
+  save_batch_prep: mean=5.01s, total=5.01s, count=1, min=5009.2ms, max=5009.2ms
+  task_sampling: mean=452.2ms, total=452.2ms, count=1, min=452.2ms, max=452.2ms
+  task_specific_sample: mean=448.4ms, total=448.4ms, count=1, min=448.4ms, max=448.4ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=439.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:52:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:52:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:52:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:52:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:52:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:52:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:52:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:52:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:52:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:52:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:52:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
+[05/10 19:52:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:52:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:52:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038275m
+[05/10 19:52:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:52:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:52:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:52:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:52:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.02022011  0.96221966  0.0382746 ] yaw=-147.8deg
+[05/10 19:52:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:52:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.86749705  0.84158363  0.0382746 ] yaw=-153.0deg
+[05/10 19:52:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:52:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.79249019  0.28872343  0.0382746 ] yaw=167.3deg
+[05/10 19:52:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:52:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:52:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.2ms, total=159.2ms
+[05/10 19:52:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.020, 0.962, 0.038)
+[05/10 19:52:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.8 deg
+[05/10 19:52:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.834m
+[05/10 19:52:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:52:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:52:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:52:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:52:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:52:41 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 19:52:41 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
+[05/10 19:52:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:52:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:52:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
+[05/10 19:52:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.595s, found feasible grasp: True
+[05/10 19:52:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 94.371[deg]
+[05/10 19:52:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:52:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:53:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:53:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:53:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:55:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:55:57 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:55:57 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 19:55:57 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:56:10 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:56:10 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:56:10 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.19s (batch: 4.25s, save: 8.94s)
+[05/10 19:56:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
+  episode_total: mean=210.62s, total=210.62s, count=1, min=210620.4ms, max=210620.4ms
+  sensor_polling: mean=520.9ms, total=156.27s, count=300, min=441.3ms, max=982.0ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8939.9ms, max=8939.9ms
+  physics_step: mean=25.4ms, total=7.63s, count=300, min=18.4ms, max=98.2ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4247.8ms, max=4247.8ms
+  task_sampling: mean=454.7ms, total=454.7ms, count=1, min=454.7ms, max=454.7ms
+  task_specific_sample: mean=451.1ms, total=451.1ms, count=1, min=451.1ms, max=451.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=412.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:56:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:56:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:56:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:56:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:56:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:56:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:56:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:56:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:56:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:56:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:56:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 19:56:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:56:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:56:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082422m
+[05/10 19:56:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:56:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:56:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:56:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71475185  0.62963193  0.08242201] yaw=-177.5deg
+[05/10 19:56:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:56:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81386772  1.05705999  0.08242201] yaw=-152.1deg
+[05/10 19:56:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:56:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 120.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:56:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78052028  1.01621104  0.08242201] yaw=-157.4deg
+[05/10 19:56:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:56:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:56:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=304.3ms, total=304.3ms
+[05/10 19:56:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.715, 0.630, 0.082)
+[05/10 19:56:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -177.5 deg
+[05/10 19:56:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.999m
+[05/10 19:56:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:56:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:56:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:56:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:56:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:56:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 19:56:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.122s
+[05/10 19:56:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:56:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:56:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 19:56:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.483s, found feasible grasp: True
+[05/10 19:56:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.567[m] 93.277[deg]
+[05/10 19:56:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:56:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 19:57:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 19:57:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 19:57:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 19:59:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 19:59:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:59:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 19:59:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 19:59:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 19:59:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 19:59:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 15.37s (batch: 5.91s, save: 9.46s)
+[05/10 19:59:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.62s:
+  episode_total: mean=213.16s, total=213.16s, count=1, min=213164.6ms, max=213164.6ms
+  sensor_polling: mean=529.1ms, total=158.74s, count=300, min=448.3ms, max=995.4ms
+  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9458.1ms, max=9458.1ms
+  physics_step: mean=25.3ms, total=7.60s, count=300, min=17.9ms, max=86.3ms
+  save_batch_prep: mean=5.91s, total=5.91s, count=1, min=5911.8ms, max=5911.8ms
+  task_sampling: mean=620.9ms, total=620.9ms, count=1, min=620.9ms, max=620.9ms
+  task_specific_sample: mean=616.4ms, total=616.4ms, count=1, min=616.4ms, max=616.4ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=514.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 19:59:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:59:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:59:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:59:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:59:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:59:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:59:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:59:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:59:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:59:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:59:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)
+[05/10 19:59:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:59:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:59:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.036506m
+[05/10 19:59:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:59:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:59:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:59:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:59:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:59:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98477241  1.19896671  0.03650606] yaw=-133.1deg
+[05/10 19:59:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:59:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:59:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 19:59:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11664319  1.03282957  0.03650606] yaw=-145.4deg
+[05/10 19:59:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:59:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6947743   0.12996194  0.03650606] yaw=156.7deg
+[05/10 19:59:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:59:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:59:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.4ms, total=157.4ms
+[05/10 19:59:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 1.199, 0.037)
+[05/10 19:59:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg
+[05/10 19:59:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.014m
+[05/10 19:59:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:59:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:59:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:59:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:59:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:59:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 19:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 19:59:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:59:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:59:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 19:59:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.816s, found feasible grasp: True
+[05/10 19:59:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.564[m] 86.473[deg]
+[05/10 19:59:52 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 19:59:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 19:59:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 19:59:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 19:59:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:59:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:59:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:59:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:59:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 19:59:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 19:59:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 19:59:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 19:59:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 19:59:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 19:59:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035222m
+[05/10 19:59:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 19:59:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 19:59:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 19:59:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96538032  0.95643658  0.03522206] yaw=-147.3deg
+[05/10 19:59:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 19:59:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.79160999  0.99739721  0.03522206] yaw=-145.1deg
+[05/10 19:59:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 19:59:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95478319  0.74202644  0.03522206] yaw=-167.0deg
+[05/10 19:59:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 19:59:54 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 19:59:54 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.3ms, total=80.4ms
+[05/10 19:59:54 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.956, 0.035)
+[05/10 19:59:54 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg
+[05/10 19:59:54 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.876m
+[05/10 19:59:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 19:59:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 19:59:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 19:59:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 19:59:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 19:59:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 19:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
+[05/10 19:59:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 19:59:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 19:59:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 19:59:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
+[05/10 19:59:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.454[m] 92.355[deg]
+[05/10 19:59:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 19:59:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 19:59:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:00:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:00:56 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:01:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:02:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:03:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:03:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 20:03:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:03:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:03:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:03:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 16.65s (batch: 4.24s, save: 12.41s)
+[05/10 20:03:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.06s:
+  episode_total: mean=107.91s, total=215.81s, count=2, min=3803.2ms, max=212009.0ms
+  sensor_polling: mean=519.7ms, total=155.91s, count=300, min=444.9ms, max=797.8ms
+  save_trajectories: mean=12.41s, total=12.41s, count=1, min=12409.7ms, max=12409.7ms
+  physics_step: mean=25.3ms, total=7.60s, count=300, min=19.1ms, max=63.1ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4239.8ms, max=4239.8ms
+  task_sampling: mean=529.4ms, total=1.06s, count=2, min=381.0ms, max=677.8ms
+  task_specific_sample: mean=525.4ms, total=1.05s, count=2, min=377.7ms, max=673.1ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.1ms
+  mj_forward_sync: mean=490.2us, total=1.0ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:03:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:03:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:03:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:03:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:03:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:03:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:03:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:03:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.087m, effective arm-mount z=0.947m (base_body_z=0.087m, pedestal_h=0.860m)
+[05/10 20:03:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:03:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:03:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087094m
+[05/10 20:03:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:03:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:03:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:03:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89367425  0.74146984  0.08709366] yaw=-154.1deg
+[05/10 20:03:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:03:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9214169   0.79946207  0.08709366] yaw=-154.6deg
+[05/10 20:03:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 97.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:03:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:03:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.85532954  0.77365451  0.08709366] yaw=-170.4deg
+[05/10 20:03:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:03:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:03:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=363.9ms, total=363.9ms
+[05/10 20:03:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.741, 0.087)
+[05/10 20:03:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg
+[05/10 20:03:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.849m
+[05/10 20:03:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:03:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:03:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:03:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:03:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:03:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 20:03:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.136s
+[05/10 20:03:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:03:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:03:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps
+[05/10 20:03:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True
+[05/10 20:03:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.437[m] 90.822[deg]
+[05/10 20:03:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:04:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:04:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:04:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:06:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:06:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:06:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 20:06:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:07:00 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:07:00 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:07:00 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 15.17s (batch: 4.80s, save: 10.37s)
+[05/10 20:07:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.70s:
+  episode_total: mean=213.14s, total=213.14s, count=1, min=213139.9ms, max=213139.9ms
+  sensor_polling: mean=521.1ms, total=156.32s, count=300, min=448.9ms, max=900.1ms
+  save_trajectories: mean=10.37s, total=10.37s, count=1, min=10365.3ms, max=10365.3ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=15.0ms, max=67.6ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4802.9ms, max=4802.9ms
+  task_sampling: mean=696.9ms, total=696.9ms, count=1, min=696.9ms, max=696.9ms
+  task_specific_sample: mean=692.7ms, total=692.7ms, count=1, min=692.7ms, max=692.7ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=479.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:07:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:07:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:07:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:07:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:07:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:07:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:07:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:07:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:07:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:07:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:07:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)
+[05/10 20:07:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:07:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:07:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064616m
+[05/10 20:07:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:07:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:07:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:07:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.73888786  0.92352233  0.06461639] yaw=-144.8deg
+[05/10 20:07:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:07:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:07:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:07:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:07:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:07:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.80489313  0.85103879  0.06461639] yaw=-162.2deg
+[05/10 20:07:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:07:03 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8071169  -0.00443702  0.06461639] yaw=146.2deg
+[05/10 20:07:03 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:07:03 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:07:03 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=345.7ms, total=345.8ms
+[05/10 20:07:03 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.739, 0.924, 0.065)
+[05/10 20:07:03 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -144.8 deg
+[05/10 20:07:03 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.060m
+[05/10 20:07:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:07:03 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:07:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:07:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:07:03 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 20:07:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.109s
+[05/10 20:07:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:07:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:07:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 20:07:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.171s, found feasible grasp: True
+[05/10 20:07:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.643[m] 85.778[deg]
+[05/10 20:07:07 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:07:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:07:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:07:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:07:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:07:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:07:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:07:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:07:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:07:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:07:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:07:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 20:07:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:07:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:07:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013716m
+[05/10 20:07:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:07:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:07:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:07:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98818644  0.91889723  0.01371619] yaw=-141.5deg
+[05/10 20:07:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:07:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88640984  0.91033985  0.01371619] yaw=-163.5deg
+[05/10 20:07:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:07:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87708224  0.09301418  0.01371619] yaw=156.4deg
+[05/10 20:07:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:07:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:07:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.6ms, total=92.7ms
+[05/10 20:07:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.988, 0.919, 0.014)
+[05/10 20:07:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -141.5 deg
+[05/10 20:07:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.837m
+[05/10 20:07:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:07:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:07:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:07:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:07:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:07:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 20:07:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 20:07:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:07:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:07:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 20:07:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.579s, found feasible grasp: True
+[05/10 20:07:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.441[m] 94.553[deg]
+[05/10 20:07:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:07:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:07:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:08:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:09:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:10:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:10:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 20:10:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:10:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:10:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:10:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.59s (batch: 4.38s, save: 9.21s)
+[05/10 20:10:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.01s:
+  episode_total: mean=104.44s, total=208.88s, count=2, min=5203.0ms, max=203672.6ms
+  sensor_polling: mean=506.4ms, total=151.91s, count=300, min=434.7ms, max=815.0ms
+  save_trajectories: mean=9.21s, total=9.21s, count=1, min=9209.9ms, max=9209.9ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=15.1ms, max=100.5ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4379.9ms, max=4379.9ms
+  task_sampling: mean=507.2ms, total=1.01s, count=2, min=373.1ms, max=641.3ms
+  task_specific_sample: mean=503.4ms, total=1.01s, count=2, min=370.1ms, max=636.6ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=488.9us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:10:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:10:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:10:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:10:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:10:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:10:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:10:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:10:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:10:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:10:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:10:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 20:10:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:10:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:10:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011212m
+[05/10 20:10:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:10:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:10:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:10:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:10:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89366691  0.57811514  0.01121235] yaw=-168.5deg
+[05/10 20:10:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:10:35 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.11284958  1.19406451  0.01121235] yaw=-125.0deg
+[05/10 20:10:35 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:10:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:10:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.8ms, total=226.8ms
+[05/10 20:10:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.894, 0.578, 0.011)
+[05/10 20:10:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg
+[05/10 20:10:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.814m
+[05/10 20:10:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:10:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:10:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:10:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:10:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:10:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 20:10:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 20:10:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:10:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:10:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 20:10:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True
+[05/10 20:10:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.373[m] 89.105[deg]
+[05/10 20:10:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:10:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:10:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:11:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:11:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:13:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:13:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:13:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 20:13:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 298 timesteps
+[05/10 20:14:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:14:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:14:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.99s (batch: 4.29s, save: 8.70s)
+[05/10 20:14:02 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.52s:
+  episode_total: mean=208.06s, total=208.06s, count=1, min=208059.1ms, max=208059.1ms
+  sensor_polling: mean=525.2ms, total=155.98s, count=297, min=450.7ms, max=782.8ms
+  save_trajectories: mean=8.70s, total=8.70s, count=1, min=8698.2ms, max=8698.2ms
+  physics_step: mean=26.5ms, total=7.87s, count=297, min=15.8ms, max=61.8ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4290.4ms, max=4290.4ms
+  task_sampling: mean=521.4ms, total=521.4ms, count=1, min=521.4ms, max=521.4ms
+  task_specific_sample: mean=517.9ms, total=517.9ms, count=1, min=517.9ms, max=517.9ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=412.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:14:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:14:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:14:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:14:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:14:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:14:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:14:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:14:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:14:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:14:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:14:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 20:14:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:14:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:14:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073920m
+[05/10 20:14:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:14:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:14:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:14:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70838269  0.56915282  0.07391988] yaw=-178.4deg
+[05/10 20:14:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:14:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.62519264  0.2803166   0.07391988] yaw=180.8deg
+[05/10 20:14:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:14:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:14:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:14:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88792558  0.21896213  0.07391988] yaw=158.3deg
+[05/10 20:14:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:14:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:14:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.5ms, total=111.5ms
+[05/10 20:14:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.708, 0.569, 0.074)
+[05/10 20:14:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.4 deg
+[05/10 20:14:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.998m
+[05/10 20:14:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:14:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:14:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:14:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:14:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:14:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 20:14:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 20:14:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:14:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:14:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:14:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.668s, found feasible grasp: True
+[05/10 20:14:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.611[m] 102.858[deg]
+[05/10 20:14:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:15:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:15:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:15:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:16:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:17:17 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:17:17 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 20:17:17 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:17:30 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:17:30 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:17:30 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 12.90s (batch: 4.42s, save: 8.49s)
+[05/10 20:17:31 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=0.41s:
+  episode_total: mean=206.78s, total=206.78s, count=1, min=206779.6ms, max=206779.6ms
+  sensor_polling: mean=523.7ms, total=157.12s, count=300, min=437.9ms, max=903.5ms
+  save_trajectories: mean=8.49s, total=8.49s, count=1, min=8485.2ms, max=8485.2ms
+  physics_step: mean=25.4ms, total=7.62s, count=300, min=15.5ms, max=88.0ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4418.8ms, max=4418.8ms
+  task_sampling: mean=414.3ms, total=414.3ms, count=1, min=414.3ms, max=414.3ms
+  task_specific_sample: mean=410.3ms, total=410.3ms, count=1, min=410.3ms, max=410.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=442.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:17:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:17:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:17:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:17:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:17:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:17:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:17:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:17:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:17:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:17:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:17:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
+[05/10 20:17:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:17:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:17:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.042313m
+[05/10 20:17:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:17:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:17:33 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:17:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 97.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:33 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:17:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.10014243  1.00152518  0.04231266] yaw=-137.0deg
+[05/10 20:17:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:17:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88700679  1.00929081  0.04231266] yaw=-155.9deg
+[05/10 20:17:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:17:33 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87545255  0.14174766  0.04231266] yaw=163.3deg
+[05/10 20:17:33 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:17:33 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:17:33 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.7ms, total=149.8ms
+[05/10 20:17:33 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.100, 1.002, 0.042)
+[05/10 20:17:33 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.0 deg
+[05/10 20:17:33 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.795m
+[05/10 20:17:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:17:33 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:17:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:17:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:17:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:17:33 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 20:17:33 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 20:17:33 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:17:33 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:17:33 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 20:17:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.556s, found feasible grasp: True
+[05/10 20:17:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.376[m] 84.547[deg]
+[05/10 20:17:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:18:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:18:20 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:18:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:19:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:19:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:19:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:19:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:20:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:20:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:20:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:20:05 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:20:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:20:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:20:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 76 non-colliding grasps
+[05/10 20:20:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.664s, found feasible grasp: True
+[05/10 20:20:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.302[deg]
+[05/10 20:20:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:20:10 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:20:10 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:20:10 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:20:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:20:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:20:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:20:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:20:10 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:20:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:20:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:20:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/10 20:20:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:20:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:20:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073074m
+[05/10 20:20:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:20:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:20:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:20:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94354237  1.2767228   0.07307385] yaw=-133.3deg
+[05/10 20:20:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06686693  0.9350509   0.07307385] yaw=-140.0deg
+[05/10 20:20:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:20:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.06684785  1.09776606  0.07307385] yaw=-127.3deg
+[05/10 20:20:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:20:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:20:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.5ms
+[05/10 20:20:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.944, 1.277, 0.073)
+[05/10 20:20:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.3 deg
+[05/10 20:20:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
+[05/10 20:20:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:20:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:20:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:20:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:20:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:20:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 20:20:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 20:20:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:20:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:20:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:20:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.565s, found feasible grasp: False
+[05/10 20:20:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 12 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 20:20:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:20:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:20:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:20:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:20:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:20:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:20:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:20:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:20:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:20:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:20:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.096m, effective arm-mount z=0.956m (base_body_z=0.096m, pedestal_h=0.860m)
+[05/10 20:20:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:20:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:20:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095677m
+[05/10 20:20:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:20:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:20:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:20:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72989409  0.58238703  0.09567691] yaw=-165.5deg
+[05/10 20:20:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:20:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:20:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87669165  0.10260941  0.09567691] yaw=166.0deg
+[05/10 20:20:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:20:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00511136  1.06358392  0.09567691] yaw=-132.6deg
+[05/10 20:20:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:20:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:20:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.8ms, total=181.8ms
+[05/10 20:20:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.730, 0.582, 0.096)
+[05/10 20:20:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -165.5 deg
+[05/10 20:20:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.978m
+[05/10 20:20:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:20:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:20:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:20:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:20:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:20:14 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 20:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 20:20:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:20:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:20:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 20:20:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.803s, found feasible grasp: True
+[05/10 20:20:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.573[m] 97.970[deg]
+[05/10 20:20:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:20:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:21:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:21:22 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:21:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:22:46 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:23:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:23:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 20:23:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:23:21 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:23:21 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:23:21 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 13.66s (batch: 4.42s, save: 9.24s)
+[05/10 20:23:21 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=1.29s:
+  episode_total: mean=115.09s, total=345.27s, count=3, min=2067.7ms, max=187431.5ms
+  sensor_polling: mean=471.1ms, total=275.12s, count=584, min=440.0ms, max=752.2ms
+  physics_step: mean=22.2ms, total=12.95s, count=584, min=16.6ms, max=61.6ms
+  save_trajectories: mean=9.24s, total=9.24s, count=1, min=9240.6ms, max=9240.6ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4420.5ms, max=4420.5ms
+  task_sampling: mean=430.8ms, total=1.29s, count=3, min=400.4ms, max=449.3ms
+  task_specific_sample: mean=427.2ms, total=1.28s, count=3, min=397.3ms, max=445.5ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.3ms, max=2.5ms
+  mj_forward_sync: mean=426.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 20:23:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:23:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:23:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:23:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:23:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:23:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:23:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:23:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:23:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:23:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:23:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.072m, effective arm-mount z=0.932m (base_body_z=0.072m, pedestal_h=0.860m)
+[05/10 20:23:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:23:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:23:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.071713m
+[05/10 20:23:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:23:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:23:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:23:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02307979  1.25787344  0.0717127 ] yaw=-130.8deg
+[05/10 20:23:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:23:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 110.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:23:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:23:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:23:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.69164089  0.46860799  0.0717127 ] yaw=190.5deg
+[05/10 20:23:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:23:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.74155942  0.53923079  0.0717127 ] yaw=-175.1deg
+[05/10 20:23:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:23:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:23:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.3ms
+[05/10 20:23:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.023, 1.258, 0.072)
+[05/10 20:23:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.8 deg
+[05/10 20:23:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
+[05/10 20:23:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:23:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:23:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:23:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:23:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:23:23 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 20:23:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 20:23:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:23:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:23:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 20:23:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.108s, found feasible grasp: True
+[05/10 20:23:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.651[m] 93.763[deg]
+[05/10 20:23:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:23:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:23:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:24:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:24:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:24:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:25:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:25:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:25:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:25:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:25:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:25:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:25:39 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:25:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:25:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:25:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 82 non-colliding grasps
+[05/10 20:25:43 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 3.870s, found feasible grasp: False
+[05/10 20:25:43 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 14 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 20:25:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:25:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:25:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:25:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:25:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:25:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:25:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:25:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
+[05/10 20:25:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:25:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:25:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021879m
+[05/10 20:25:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:25:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:25:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 116.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 103.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:46 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=967.5ms, total=967.6ms
+[05/10 20:25:46 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 20:25:46 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 20:25:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:25:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:25:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:25:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:25:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:25:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:25:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:25:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:25:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:25:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:25:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.076m, effective arm-mount z=0.936m (base_body_z=0.076m, pedestal_h=0.860m)
+[05/10 20:25:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:25:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:25:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076463m
+[05/10 20:25:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:25:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:25:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8200157   0.55872999  0.07646286] yaw=-185.4deg
+[05/10 20:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:25:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83766805  1.12004051  0.07646286] yaw=-135.2deg
+[05/10 20:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:25:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.20940059  1.08617365  0.07646286] yaw=-125.0deg
+[05/10 20:25:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:25:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:25:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.5ms
+[05/10 20:25:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.820, 0.559, 0.076)
+[05/10 20:25:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -185.4 deg
+[05/10 20:25:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.886m
+[05/10 20:25:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:25:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:25:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:25:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:25:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:25:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 20:25:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.095s
+[05/10 20:25:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:25:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:25:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/10 20:25:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.594s, found feasible grasp: True
+[05/10 20:25:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.443[m] 88.165[deg]
+[05/10 20:25:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:25:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:25:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:26:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:26:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:26:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:28:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:28:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:28:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:28:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:28:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:28:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:28:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:28:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:28:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:28:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:28:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 20:28:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.626s, found feasible grasp: True
+[05/10 20:28:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.166[deg]
+[05/10 20:28:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:28:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:28:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:28:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:28:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:28:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:28:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:28:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 20:29:03 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 20:29:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:29:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:29:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 76 non-colliding grasps
+[05/10 20:29:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.004s, found feasible grasp: True
+[05/10 20:29:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.117[m] 2.408[deg]
+[05/10 20:29:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:29:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:29:16 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=False
+[05/10 20:29:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=False episode_total=1.28s:
+  episode_total: mean=116.46s, total=349.39s, count=3, min=1000.1ms, max=208372.2ms
+  sensor_polling: mean=510.6ms, total=267.03s, count=523, min=445.1ms, max=929.4ms
+  physics_step: mean=24.7ms, total=12.90s, count=523, min=16.8ms, max=109.9ms
+  task_specific_sample: mean=748.8ms, total=2.25s, count=3, min=458.6ms, max=972.9ms
+  task_sampling: mean=640.8ms, total=1.28s, count=2, min=462.2ms, max=819.4ms
+  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=506.1us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 20:29:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:29:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:29:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:29:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:29:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:29:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:29:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:29:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:29:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:29:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:29:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
+[05/10 20:29:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:29:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:29:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004707m
+[05/10 20:29:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:29:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:29:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:29:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:29:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:29:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90903105  0.28436941  0.004707  ] yaw=170.1deg
+[05/10 20:29:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:29:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:29:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.14213062  1.00954712  0.004707  ] yaw=-125.8deg
+[05/10 20:29:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:29:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98385513  0.17704352  0.004707  ] yaw=160.1deg
+[05/10 20:29:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:29:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:29:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=460.1ms, total=460.2ms
+[05/10 20:29:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.284, 0.005)
+[05/10 20:29:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg
+[05/10 20:29:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.818m
+[05/10 20:29:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:29:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:29:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:29:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:29:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:29:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 20:29:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.062s
+[05/10 20:29:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:29:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:29:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
+[05/10 20:29:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.970s, found feasible grasp: True
+[05/10 20:29:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.406[m] 97.202[deg]
+[05/10 20:29:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:29:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:29:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:30:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:31:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:31:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:31:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:31:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:31:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:31:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:31:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:31:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:31:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:31:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:31:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.056s, found 78 non-colliding grasps
+[05/10 20:31:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.519s, found feasible grasp: True
+[05/10 20:31:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.625[deg]
+[05/10 20:31:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:31:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:32:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:32:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:32:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:32:42 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:33:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:33:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_007 batch 4/4: 1 episodes
+[05/10 20:33:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:33:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:33:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_007
+[05/10 20:33:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_007 in 14.91s (batch: 4.37s, save: 10.54s)
+[05/10 20:33:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.80s:
+  episode_total: mean=249.07s, total=249.07s, count=1, min=249068.6ms, max=249068.6ms
+  sensor_polling: mean=519.9ms, total=155.97s, count=300, min=447.4ms, max=1084.5ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10538.5ms, max=10538.5ms
+  physics_step: mean=26.1ms, total=7.82s, count=300, min=14.6ms, max=119.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4371.7ms, max=4371.7ms
+  task_sampling: mean=801.6ms, total=801.6ms, count=1, min=801.6ms, max=801.6ms
+  task_specific_sample: mean=797.6ms, total=797.6ms, count=1, min=797.6ms, max=797.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=568.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:33:29 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
+[05/10 20:33:29 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_007
+[05/10 20:33:29 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 11/12 successful episodes
+[05/10 20:33:29 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 11/12 successful, 12 episodes, total_time=5280.23s
+  House averages:
+  episode_total: mean=160.46s, total=2888.27s, count=18, min=1000.1ms, max=255768.9ms
+  sensor_polling: mean=511.7ms, total=2099.92s, count=4104, min=428.4ms, max=1214.5ms
+  save_trajectories: mean=9.82s, total=108.06s, count=11, min=8485.2ms, max=12409.7ms
+  physics_step: mean=25.1ms, total=102.93s, count=4104, min=14.6ms, max=119.6ms
+  save_batch_prep: mean=4.61s, total=50.71s, count=11, min=4239.8ms, max=5911.8ms
+  task_sampling: mean=714.1ms, total=12.14s, count=17, min=373.1ms, max=3530.6ms
+  task_specific_sample: mean=556.4ms, total=10.01s, count=18, min=370.1ms, max=972.9ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
+  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
+  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
+  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
+  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
+  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.2ms, max=3.2ms
+  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
+  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=471.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 20:33:29 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 20:33:29 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 12 episodes, total_time=5280.23s
+  Worker averages:
+  episode_total: mean=160.46s, total=2888.27s, count=18, min=1000.1ms, max=255768.9ms
+  sensor_polling: mean=511.7ms, total=2099.92s, count=4104, min=428.4ms, max=1214.5ms
+  save_trajectories: mean=9.82s, total=108.06s, count=11, min=8485.2ms, max=12409.7ms
+  physics_step: mean=25.1ms, total=102.93s, count=4104, min=14.6ms, max=119.6ms
+  save_batch_prep: mean=4.61s, total=50.71s, count=11, min=4239.8ms, max=5911.8ms
+  task_sampling: mean=714.1ms, total=12.14s, count=17, min=373.1ms, max=3530.6ms
+  task_specific_sample: mean=556.4ms, total=10.01s, count=18, min=370.1ms, max=972.9ms
+  scene_load: mean=3.03s, total=3.03s, count=1, min=3032.6ms, max=3032.6ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1920.8ms, max=1920.8ms
+  task_sampling_failed: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  scene_compile: mean=996.9ms, total=996.9ms, count=1, min=996.9ms, max=996.9ms
+  compile_mujoco: mean=576.8ms, total=576.8ms, count=1, min=576.8ms, max=576.8ms
+  compile_xml_load: mean=346.1ms, total=346.1ms, count=1, min=346.1ms, max=346.1ms
+  scene_init: mean=67.8ms, total=67.8ms, count=1, min=67.8ms, max=67.8ms
+  scene_asset_install: mean=46.9ms, total=46.9ms, count=1, min=46.9ms, max=46.9ms
+  compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms
+  scene_randomize: mean=2.1ms, total=38.4ms, count=18, min=1.2ms, max=3.2ms
+  asset_install_grasps: mean=35.4ms, total=35.4ms, count=1, min=35.4ms, max=35.4ms
+  compile_robot_add: mean=17.0ms, total=17.0ms, count=1, min=17.0ms, max=17.0ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=471.2us, total=8.5ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 20:33:33 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 20:33:33 INFO pipeline.py:1491] Success count: 11, Total count: 12
+[05/10 20:33:33 INFO pipeline.py:1492] Success rate: 91.67%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_007
+==========================================
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+05/10 20:39:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 20:39:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 20:39:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 20:39:39 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7196189fe1d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20802,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 20:39:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 20:39:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 20:39:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 20:39:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 20:39:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 20:39:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 20:39:39 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7cb5dd7c4e10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20804,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 20:39:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 20:39:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 20:39:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 20:39:39 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 20:39:39 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 20:39:39 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 20:39:39 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 20:39:39 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 20:39:39 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7bb06d224a90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20801,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 20:39:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 20:39:39 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 20:39:39 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 20:39:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 20:39:40 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 20:39:40 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 20:39:40 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 20:39:40 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7703667e7490>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20803,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 20:39:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 20:39:40 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 20:39:40 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 20:39:40 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 20:39:41 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 20:39:41 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 20:39:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 20:39:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 20:39:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:39:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066341m	[env.py: 870]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:39:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78184869  0.45385721  0.06634096] yaw=186.4deg	[env.py: 1019]
+05/10 20:39:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 20:39:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83374436  0.37243671  0.06634096] yaw=178.1deg	[env.py: 1019]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73115906  0.35503626  0.06634096] yaw=176.7deg	[env.py: 1019]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=137.1ms, total=149.8ms	[env.py: 1075]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.454, 0.066)	[env.py: 1079]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.4 deg	[env.py: 1082]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:39:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 20:39:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 20:39:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:39:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091023m	[env.py: 870]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:39:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:39:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 20:39:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65072881  0.60037137  0.09102282] yaw=-169.0deg	[env.py: 1019]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73550156 -0.00800756  0.09102282] yaw=163.6deg	[env.py: 1019]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04409002  0.99226242  0.09102282] yaw=-135.2deg	[env.py: 1019]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=50.0ms, retries=159.0ms, total=209.0ms	[env.py: 1075]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.651, 0.600, 0.091)	[env.py: 1079]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg	[env.py: 1082]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:39:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 20:39:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 20:39:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:39:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010633m	[env.py: 870]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:39:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 20:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:39:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64066221  0.3387437   0.01063263] yaw=173.5deg	[env.py: 1019]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87704913  0.92342589  0.01063263] yaw=-148.1deg	[env.py: 1019]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80678526  0.69997008  0.01063263] yaw=-165.4deg	[env.py: 1019]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=23.5ms, retries=127.7ms, total=151.2ms	[env.py: 1075]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.339, 0.011)	[env.py: 1079]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.5 deg	[env.py: 1082]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:39:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:39:42 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 20:39:42 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 20:39:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:39:42 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:39:42 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 20:39:42 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 20:39:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:39:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:39:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017565m	[env.py: 870]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:39:42 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 20:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77228617  0.36450351  0.01756466] yaw=167.9deg	[env.py: 1019]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02738909  1.32854016  0.01756466] yaw=-126.5deg	[env.py: 1019]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:39:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=13.6ms, retries=189.7ms, total=203.3ms	[env.py: 1075]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.365, 0.018)	[env.py: 1079]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg	[env.py: 1082]
+05/10 20:39:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/10 20:39:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:39:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:39:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:39:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:39:43 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:40:09 INFO: [Worker 0] Warmed up parallel IK solver in 27.449s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:40:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:40:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:40:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:40:10 INFO: [Worker 0] Warmed up parallel IK solver in 27.661s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:40:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:40:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:40:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:40:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:40:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.465[m] 91.075[deg]	[grasp_sample.py: 539]
+05/10 20:40:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:40:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:40:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:40:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:40:11 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.589[m] 79.328[deg]	[grasp_sample.py: 539]
+05/10 20:40:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:40:11 INFO: [Worker 0] Warmed up parallel IK solver in 28.227s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:40:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:40:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:40:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:40:11 INFO: [Worker 0] Warmed up parallel IK solver in 28.992s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:40:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:40:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:40:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:40:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:40:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:40:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:40:12 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.484[m] 87.377[deg]	[grasp_sample.py: 539]
+05/10 20:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:40:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:40:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.619[m] 90.188[deg]	[grasp_sample.py: 539]
+05/10 20:40:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:40:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:40:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:40:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:40:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:41:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:41:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:41:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:41:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:41:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:41:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:41:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:41:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:41:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:41:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:41:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:41:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:42:58 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:42:59 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:43:01 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:43:07 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:43:18 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:43:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:43:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:43:19 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:43:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:43:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:43:21 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:43:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:43:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:43:28 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:43:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:43:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:43:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:43:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:43:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.15s (batch: 4.21s, save: 8.94s)	[pipeline.py: 300]
+05/10 20:43:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:43:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:43:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.23s (batch: 4.21s, save: 9.02s)	[pipeline.py: 300]
+05/10 20:43:32 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.12s:
+  episode_total: mean=232.70s, total=232.70s, count=1, min=232703.9ms, max=232703.9ms
+  sensor_polling: mean=517.3ms, total=155.18s, count=300, min=448.2ms, max=747.3ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.0ms, max=8940.0ms
+  physics_step: mean=27.0ms, total=8.10s, count=300, min=17.4ms, max=73.2ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4210.0ms, max=4210.0ms
+  task_sampling: mean=3.12s, total=3.12s, count=1, min=3118.6ms, max=3118.6ms
+  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
+  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
+  task_specific_sample: mean=445.1ms, total=445.1ms, count=1, min=445.1ms, max=445.1ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
+  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=617.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:43:33 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.34s:
+  episode_total: mean=233.66s, total=233.66s, count=1, min=233657.1ms, max=233657.1ms
+  sensor_polling: mean=516.3ms, total=154.89s, count=300, min=444.2ms, max=769.9ms
+  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9021.0ms, max=9021.0ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=15.4ms, max=59.6ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4207.6ms, max=4207.6ms
+  task_sampling: mean=3.34s, total=3.34s, count=1, min=3341.8ms, max=3341.8ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
+  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
+  task_specific_sample: mean=566.8ms, total=566.8ms, count=1, min=566.8ms, max=566.8ms
+  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
+  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
+  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
+  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=612.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:43:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:43:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:43:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:43:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:43:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:43:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:43:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067681m	[env.py: 870]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:43:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:43:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:43:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:43:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.11s (batch: 4.22s, save: 8.89s)	[pipeline.py: 300]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76127927  0.12845864  0.06768143] yaw=152.7deg	[env.py: 1019]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17248088  1.07968041  0.06768143] yaw=-139.1deg	[env.py: 1019]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:43:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms	[env.py: 1075]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.128, 0.068)	[env.py: 1079]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.7 deg	[env.py: 1082]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:43:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:43:34 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:43:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:43:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:43:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:43:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:43:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:43:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:43:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:43:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:43:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:43:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:43:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068651m	[env.py: 870]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:43:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17742087  1.12913449  0.06865121] yaw=-133.1deg	[env.py: 1019]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07263019  0.90377786  0.06865121] yaw=-136.4deg	[env.py: 1019]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:43:34 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.38s:
+  episode_total: mean=235.74s, total=235.74s, count=1, min=235744.9ms, max=235744.9ms
+  sensor_polling: mean=518.6ms, total=155.59s, count=300, min=445.8ms, max=782.6ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8892.4ms, max=8892.4ms
+  physics_step: mean=28.1ms, total=8.43s, count=300, min=18.2ms, max=98.4ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.6ms, max=4219.6ms
+  task_sampling: mean=3.38s, total=3.38s, count=1, min=3381.7ms, max=3381.7ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
+  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
+  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
+  task_specific_sample: mean=491.9ms, total=491.9ms, count=1, min=491.9ms, max=491.9ms
+  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=406.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=36.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64420704  0.20664363  0.06865121] yaw=161.3deg	[env.py: 1019]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:43:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.0ms, total=170.1ms	[env.py: 1075]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.177, 1.129, 0.069)	[env.py: 1079]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg	[env.py: 1082]
+05/10 20:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:43:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:43:35 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:43:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:43:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:43:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:43:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:43:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:43:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.591[m] 98.504[deg]	[grasp_sample.py: 539]
+05/10 20:43:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:43:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:43:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:43:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:43:36 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.412[m] 89.620[deg]	[grasp_sample.py: 539]
+05/10 20:43:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:43:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:43:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:43:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:43:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:43:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:43:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:43:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031722m	[env.py: 870]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:43:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85114707  0.21209078  0.03172185] yaw=157.7deg	[env.py: 1019]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:43:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:43:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02805143  0.99570984  0.03172185] yaw=-134.6deg	[env.py: 1019]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95074595  0.90874406  0.03172185] yaw=-157.1deg	[env.py: 1019]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:43:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=215.0ms	[env.py: 1075]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.212, 0.032)	[env.py: 1079]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.7 deg	[env.py: 1082]
+05/10 20:43:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:43:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:43:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:43:37 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:43:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:43:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:43:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:43:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:43:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:43:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.456[m] 85.843[deg]	[grasp_sample.py: 539]
+05/10 20:43:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:43:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:43:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:43:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:43:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:43:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.03s (batch: 3.93s, save: 10.10s)	[pipeline.py: 300]
+05/10 20:43:43 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.28s:
+  episode_total: mean=243.41s, total=243.41s, count=1, min=243414.3ms, max=243414.3ms
+  sensor_polling: mean=522.5ms, total=156.76s, count=300, min=441.8ms, max=733.0ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10097.0ms, max=10097.0ms
+  physics_step: mean=27.5ms, total=8.24s, count=300, min=18.0ms, max=65.0ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3934.0ms, max=3934.0ms
+  task_sampling: mean=3.28s, total=3.28s, count=1, min=3284.8ms, max=3284.8ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
+  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
+  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  task_specific_sample: mean=478.6ms, total=478.6ms, count=1, min=478.6ms, max=478.6ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
+  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
+  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=386.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:43:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:43:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:43:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:43:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:43:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:43:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:43:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014330m	[env.py: 870]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:43:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78585762  0.6720323   0.01432994] yaw=-178.0deg	[env.py: 1019]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86689258  0.54766652  0.01432994] yaw=-164.7deg	[env.py: 1019]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71388448  0.08497337  0.01432994] yaw=153.3deg	[env.py: 1019]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:43:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.0ms, total=218.0ms	[env.py: 1075]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.672, 0.014)	[env.py: 1079]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -178.0 deg	[env.py: 1082]
+05/10 20:43:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:43:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:43:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:43:45 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:43:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:43:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:43:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:43:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:43:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:43:47 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.477[m] 83.690[deg]	[grasp_sample.py: 539]
+05/10 20:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:43:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:43:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:44:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:44:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:44:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:44:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:44:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:44:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:44:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:44:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:44:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:44:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:44:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:44:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:45:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:45:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:45:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:45:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:45:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:46:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:46:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]	[grasp_sample.py: 539]
+05/10 20:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:46:02 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:46:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:46:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:46:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:46:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:46:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:46:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:46:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046823m	[env.py: 870]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:46:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0010862   0.13483183  0.04682255] yaw=153.4deg	[env.py: 1019]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71867189  0.82499998  0.04682255] yaw=-150.1deg	[env.py: 1019]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81371373  0.09959363  0.04682255] yaw=163.9deg	[env.py: 1019]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:46:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.8ms, total=293.8ms	[env.py: 1075]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.135, 0.047)	[env.py: 1079]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 153.4 deg	[env.py: 1082]
+05/10 20:46:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:46:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:46:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:46:04 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:46:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:46:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:46:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:46:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:46:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:46:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:46:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:46:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:46:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:46:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:46:05 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.316[m] 89.345[deg]	[grasp_sample.py: 539]
+05/10 20:46:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:46:05 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.405s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:46:05 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.159[deg]	[grasp_sample.py: 539]
+05/10 20:46:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:46:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:46:06 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:46:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:46:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:46:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:46:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:46:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:46:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:46:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031428m	[env.py: 870]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:46:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03326057  0.83407952  0.03142835] yaw=-153.0deg	[env.py: 1019]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72875578  0.21780097  0.03142835] yaw=172.8deg	[env.py: 1019]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77324448  0.84483873  0.03142835] yaw=-152.7deg	[env.py: 1019]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms	[env.py: 1075]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.834, 0.031)	[env.py: 1079]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg	[env.py: 1082]
+05/10 20:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:46:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:46:08 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:46:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:46:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:46:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:46:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:46:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:46:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.310[deg]	[grasp_sample.py: 539]
+05/10 20:46:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:46:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:46:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:46:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:46:36 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:46:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:46:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:46:48 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:46:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:46:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:46:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:46:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:46:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:46:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:47:00 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:47:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:47:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:47:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:47:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:47:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.37s (batch: 4.38s, save: 10.99s)	[pipeline.py: 300]
+05/10 20:47:04 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
+  episode_total: mean=210.65s, total=210.65s, count=1, min=210645.1ms, max=210645.1ms
+  sensor_polling: mean=518.2ms, total=155.46s, count=300, min=446.9ms, max=833.7ms
+  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10985.4ms, max=10985.4ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=15.3ms, max=72.9ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4380.5ms, max=4380.5ms
+  task_sampling: mean=466.5ms, total=466.5ms, count=1, min=466.5ms, max=466.5ms
+  task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=422.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:47:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:47:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:47:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:47:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:47:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052877m	[env.py: 870]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84469801  1.10050357  0.05287708] yaw=-142.0deg	[env.py: 1019]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13056681  1.19432385  0.05287708] yaw=-136.2deg	[env.py: 1019]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.3ms, total=336.3ms	[env.py: 1075]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.845, 1.101, 0.053)	[env.py: 1079]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg	[env.py: 1082]
+05/10 20:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:47:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:47:07 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:47:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:47:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:47:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:47:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:47:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.635[m] 84.164[deg]	[grasp_sample.py: 539]
+05/10 20:47:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:47:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:47:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:47:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:47:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:47:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.29s (batch: 4.76s, save: 11.52s)	[pipeline.py: 300]
+05/10 20:47:17 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=212.61s, total=212.61s, count=1, min=212607.0ms, max=212607.0ms
+  sensor_polling: mean=525.0ms, total=157.49s, count=300, min=452.5ms, max=747.5ms
+  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11523.4ms, max=11523.4ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.3ms, max=52.8ms
+  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4762.3ms, max=4762.3ms
+  task_sampling: mean=502.0ms, total=502.0ms, count=1, min=502.0ms, max=502.0ms
+  task_specific_sample: mean=498.1ms, total=498.1ms, count=1, min=498.1ms, max=498.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:47:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:47:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:47:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:47:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:47:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:47:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:47:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075274m	[env.py: 870]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:47:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90973003  0.30986508  0.0752744 ] yaw=168.9deg	[env.py: 1019]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94880968  0.56225182  0.0752744 ] yaw=-165.5deg	[env.py: 1019]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6846533  0.1864349  0.0752744] yaw=161.0deg	[env.py: 1019]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:47:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.7ms	[env.py: 1075]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.310, 0.075)	[env.py: 1079]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg	[env.py: 1082]
+05/10 20:47:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:47:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:47:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:47:20 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:47:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:47:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:47:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:47:20 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:47:20 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.338[m] 83.787[deg]	[grasp_sample.py: 539]
+05/10 20:47:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:47:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:47:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:47:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:47:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:47:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:47:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:47:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:47:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:47:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:47:49 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:47:49 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.384[deg]	[grasp_sample.py: 539]
+05/10 20:47:51 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:47:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:47:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:47:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:47:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:47:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:47:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:47:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:47:52 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:47:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:47:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:47:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056367m	[env.py: 870]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:47:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85209503  1.04861758  0.05636708] yaw=-149.7deg	[env.py: 1019]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00464532  0.87081111  0.05636708] yaw=-161.4deg	[env.py: 1019]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9219073   0.61030998  0.05636708] yaw=-164.8deg	[env.py: 1019]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:47:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.7ms	[env.py: 1075]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.049, 0.056)	[env.py: 1079]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg	[env.py: 1082]
+05/10 20:47:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/10 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:47:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:47:53 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:47:53 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:47:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:47:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:47:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:47:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:47:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:47:55 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.644[m] 94.824[deg]	[grasp_sample.py: 539]
+05/10 20:47:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:47:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:47:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:47:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:48:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:48:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:48:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:48:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:48:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:48:51 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:49:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:49:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:49:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:49:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:49:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.382s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:49:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.755[deg]	[grasp_sample.py: 539]
+05/10 20:49:10 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:49:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:49:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:49:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:49:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002364m	[env.py: 870]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72076745  0.13192661  0.00236352] yaw=152.1deg	[env.py: 1019]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94624838  0.35231675  0.00236352] yaw=172.3deg	[env.py: 1019]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88263174  0.23825297  0.00236352] yaw=174.2deg	[env.py: 1019]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=279.2ms, total=279.2ms	[env.py: 1075]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.132, 0.002)	[env.py: 1079]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg	[env.py: 1082]
+05/10 20:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:49:13 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:49:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:49:13 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 20:49:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:49:13 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:49:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:49:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:49:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:49:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:49:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:49:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:49:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.617[m] 97.234[deg]	[grasp_sample.py: 539]
+05/10 20:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:49:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:49:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:49:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:49:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 20:49:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:49:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:49:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:49:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:49:20 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.470s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:49:20 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.579[deg]	[grasp_sample.py: 539]
+05/10 20:49:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:49:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:49:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:49:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:49:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:49:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.33s (batch: 4.55s, save: 8.78s)	[pipeline.py: 300]
+05/10 20:49:26 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.92s:
+  episode_total: mean=174.34s, total=348.69s, count=2, min=149907.6ms, max=198777.8ms
+  sensor_polling: mean=523.9ms, total=278.74s, count=532, min=431.5ms, max=837.4ms
+  physics_step: mean=26.0ms, total=13.86s, count=532, min=15.3ms, max=89.1ms
+  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8784.1ms, max=8784.1ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.0ms, max=4549.0ms
+  task_sampling: mean=459.9ms, total=919.7ms, count=2, min=403.3ms, max=516.4ms
+  task_specific_sample: mean=456.0ms, total=911.9ms, count=2, min=400.0ms, max=511.9ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
+  mj_forward_sync: mean=491.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:49:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:49:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:49:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:49:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015332m	[env.py: 870]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81948029  0.39008478  0.0153316 ] yaw=170.3deg	[env.py: 1019]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71098987  0.56772336  0.0153316 ] yaw=-164.9deg	[env.py: 1019]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84129966  0.52357486  0.0153316 ] yaw=-185.8deg	[env.py: 1019]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:49:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.0ms	[env.py: 1075]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.390, 0.015)	[env.py: 1079]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg	[env.py: 1082]
+05/10 20:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:49:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:49:28 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:49:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:49:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:49:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:49:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:49:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.447[m] 93.872[deg]	[grasp_sample.py: 539]
+05/10 20:49:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:49:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:49:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:49:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:49:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:49:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:50:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:50:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:50:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:50:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:50:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:50:06 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:50:06 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.598[deg]	[grasp_sample.py: 539]
+05/10 20:50:08 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:50:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:50:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:50:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:50:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:50:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:50:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:50:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:50:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:50:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:50:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003464m	[env.py: 870]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:50:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01364107  0.96161775  0.00346449] yaw=-135.9deg	[env.py: 1019]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88882081  0.67914259  0.00346449] yaw=-164.8deg	[env.py: 1019]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87545053  0.78924939  0.00346449] yaw=-168.7deg	[env.py: 1019]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:50:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.5ms, total=165.5ms	[env.py: 1075]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.962, 0.003)	[env.py: 1079]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
+05/10 20:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/10 20:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:50:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:50:10 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:50:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:50:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:50:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:50:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:50:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:50:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.926[deg]	[grasp_sample.py: 539]
+05/10 20:50:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:50:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:50:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:50:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:50:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:50:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:50:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:50:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:50:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:50:38 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 20:50:38 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=False episode_total=1.44s:
+  episode_total: mean=139.88s, total=419.65s, count=3, min=106986.1ms, max=165177.7ms
+  sensor_polling: mean=514.3ms, total=360.49s, count=701, min=440.7ms, max=817.5ms
+  physics_step: mean=25.4ms, total=17.84s, count=701, min=16.1ms, max=78.5ms
+  task_sampling: mean=481.2ms, total=1.44s, count=3, min=442.6ms, max=545.8ms
+  task_specific_sample: mean=477.5ms, total=1.43s, count=3, min=438.6ms, max=542.4ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.4ms, max=2.2ms
+  mj_forward_sync: mean=515.3us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=23.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:50:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:50:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:50:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:50:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:50:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:50:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:50:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040730m	[env.py: 870]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:50:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89180579  0.63198084  0.04073012] yaw=-162.3deg	[env.py: 1019]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7621687   0.35418779  0.04073012] yaw=163.0deg	[env.py: 1019]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03914093  0.8408638   0.04073012] yaw=-144.2deg	[env.py: 1019]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:50:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.8ms, total=137.9ms	[env.py: 1075]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.632, 0.041)	[env.py: 1079]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.3 deg	[env.py: 1082]
+05/10 20:50:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:50:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:50:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:50:40 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:50:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:50:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:50:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:50:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:50:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:50:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.372[m] 87.704[deg]	[grasp_sample.py: 539]
+05/10 20:50:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:50:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:50:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:50:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:51:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:51:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:51:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:51:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:51:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:51:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:51:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:52:18 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:52:19 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:52:39 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:52:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:52:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:52:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:52:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:52:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:52:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:52:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:52:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.29s (batch: 4.24s, save: 9.05s)	[pipeline.py: 300]
+05/10 20:52:53 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:52:53 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.35s:
+  episode_total: mean=205.00s, total=205.00s, count=1, min=204999.9ms, max=204999.9ms
+  sensor_polling: mean=524.7ms, total=157.42s, count=300, min=442.7ms, max=971.5ms
+  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.9ms, max=9050.9ms
+  physics_step: mean=27.3ms, total=8.19s, count=300, min=15.4ms, max=67.5ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4240.0ms, max=4240.0ms
+  task_sampling: mean=350.0ms, total=350.0ms, count=1, min=350.0ms, max=350.0ms
+  task_specific_sample: mean=343.5ms, total=343.5ms, count=1, min=343.5ms, max=343.5ms
+  scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
+  mj_forward_sync: mean=486.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:52:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:52:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:52:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.03s (batch: 4.72s, save: 9.31s)	[pipeline.py: 300]
+05/10 20:52:55 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s:
+  episode_total: mean=166.92s, total=333.84s, count=2, min=111273.9ms, max=222568.6ms
+  sensor_polling: mean=517.1ms, total=245.10s, count=474, min=440.3ms, max=777.5ms
+  physics_step: mean=26.1ms, total=12.37s, count=474, min=15.4ms, max=70.0ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9306.0ms, max=9306.0ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4724.8ms, max=4724.8ms
+  task_sampling: mean=531.9ms, total=1.06s, count=2, min=492.4ms, max=571.5ms
+  task_specific_sample: mean=528.4ms, total=1.06s, count=2, min=488.5ms, max=568.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=434.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:52:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:52:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:52:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:52:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:52:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:52:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:52:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011647m	[env.py: 870]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:52:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=410.6ms, total=410.6ms	[env.py: 1105]
+05/10 20:52:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'	[opening_task_samplers.py: 285]
+05/10 20:52:55 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root	[pipeline.py: 1063]
+05/10 20:52:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:52:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:52:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:52:57 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:52:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:52:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:52:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053806m	[env.py: 870]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:52:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74697814  0.17920632  0.05380607] yaw=170.6deg	[env.py: 1019]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68632484  0.8800913   0.05380607] yaw=-165.1deg	[env.py: 1019]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:52:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.2ms, total=271.3ms	[env.py: 1075]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.179, 0.054)	[env.py: 1079]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg	[env.py: 1082]
+05/10 20:52:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:52:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:52:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:52:57 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:52:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:52:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:52:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:52:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:52:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:52:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:52:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:52:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:52:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:52:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:52:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052029m	[env.py: 870]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:52:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97705503  0.94216924  0.05202944] yaw=-154.1deg	[env.py: 1019]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79062807  0.65347013  0.05202944] yaw=-170.4deg	[env.py: 1019]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93624977  0.29086984  0.05202944] yaw=155.9deg	[env.py: 1019]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:52:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=531.5ms, total=531.6ms	[env.py: 1075]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.942, 0.052)	[env.py: 1079]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg	[env.py: 1082]
+05/10 20:52:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:52:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:52:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:52:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:52:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:52:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:52:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:52:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:52:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:52:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.571[m] 88.529[deg]	[grasp_sample.py: 539]
+05/10 20:52:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:52:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.686s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:52:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.465[m] 86.296[deg]	[grasp_sample.py: 539]
+05/10 20:52:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:52:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:52:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:53:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:53:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:53:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:53:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:53:20 INFO: [Worker 0] Preparing episode data: 299 timesteps	[save_utils.py: 278]
+05/10 20:53:24 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:53:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:53:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:53:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.00s (batch: 4.61s, save: 9.39s)	[pipeline.py: 300]
+05/10 20:53:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.05s:
+  episode_total: mean=193.63s, total=387.25s, count=2, min=181731.5ms, max=205519.8ms
+  sensor_polling: mean=506.9ms, total=302.62s, count=597, min=434.0ms, max=848.4ms
+  physics_step: mean=24.9ms, total=14.89s, count=597, min=16.3ms, max=75.8ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9388.2ms, max=9388.2ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.7ms, max=4607.7ms
+  task_sampling: mean=525.9ms, total=1.05s, count=2, min=425.3ms, max=626.6ms
+  task_specific_sample: mean=522.3ms, total=1.04s, count=2, min=421.7ms, max=622.9ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms
+  mj_forward_sync: mean=473.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:53:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:53:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:53:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:53:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:53:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:53:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:53:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011572m	[env.py: 870]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:53:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88252104  0.46742588  0.01157206] yaw=180.2deg	[env.py: 1019]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87109017  0.94259276  0.01157206] yaw=-159.4deg	[env.py: 1019]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83767209  0.4933306   0.01157206] yaw=-174.6deg	[env.py: 1019]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:53:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.1ms, total=99.1ms	[env.py: 1075]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.467, 0.012)	[env.py: 1079]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.2 deg	[env.py: 1082]
+05/10 20:53:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:53:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:53:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:53:37 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:53:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:53:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:53:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:53:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:53:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:53:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.353[m] 83.772[deg]	[grasp_sample.py: 539]
+05/10 20:53:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:53:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:53:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:53:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:53:50 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:53:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:53:50 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/10 20:54:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:54:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:54:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:54:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:54:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.72s (batch: 4.81s, save: 9.91s)	[pipeline.py: 300]
+05/10 20:54:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:54:05 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
+  episode_total: mean=205.32s, total=205.32s, count=1, min=205324.3ms, max=205324.3ms
+  sensor_polling: mean=510.5ms, total=151.12s, count=296, min=446.0ms, max=842.5ms
+  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9906.6ms, max=9906.6ms
+  physics_step: mean=25.4ms, total=7.53s, count=296, min=18.3ms, max=80.5ms
+  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4810.0ms, max=4810.0ms
+  task_sampling: mean=477.9ms, total=477.9ms, count=1, min=477.9ms, max=477.9ms
+  task_specific_sample: mean=473.9ms, total=473.9ms, count=1, min=473.9ms, max=473.9ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=578.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:54:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:54:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:54:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:54:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:54:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:54:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:54:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046911m	[env.py: 870]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:54:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03536392  1.13132931  0.04691121] yaw=-126.3deg	[env.py: 1019]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06883586  0.95956311  0.04691121] yaw=-144.1deg	[env.py: 1019]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72163823  0.60130932  0.04691121] yaw=-178.8deg	[env.py: 1019]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:54:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.5ms	[env.py: 1075]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.131, 0.047)	[env.py: 1079]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg	[env.py: 1082]
+05/10 20:54:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/10 20:54:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:54:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:54:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:54:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:54:07 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:54:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:54:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:54:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:54:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:54:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.851s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:54:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.498[m] 86.020[deg]	[grasp_sample.py: 539]
+05/10 20:54:11 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:54:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:54:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:54:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:54:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:54:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:54:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:54:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000473m	[env.py: 870]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:54:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.50799336e-01  3.34986438e-01  4.73153184e-04] yaw=174.8deg	[env.py: 1019]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.46457222e-01  1.06760212e-01  4.73153184e-04] yaw=151.4deg	[env.py: 1019]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.07956947e-01  9.32820431e-01  4.73153184e-04] yaw=-157.4deg	[env.py: 1019]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:54:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=311.7ms, total=311.7ms	[env.py: 1075]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.335, 0.000)	[env.py: 1079]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg	[env.py: 1082]
+05/10 20:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.766m	[env.py: 1086]
+05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:54:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:54:13 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:54:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:54:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:54:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:54:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:54:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:54:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.084s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:54:14 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.337[m] 94.904[deg]	[grasp_sample.py: 539]
+05/10 20:54:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:54:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:54:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:54:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:54:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:54:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:54:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:54:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:55:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:55:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:44 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:55:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:55:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:55:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:55:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:55:52 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:55:52 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.731[deg]	[grasp_sample.py: 539]
+05/10 20:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:53 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:55:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 20:55:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 20:55:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:55:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:55:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:55:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:55:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:55:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:55:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:55:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:55:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:55:55 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:55:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:55:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:55:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041680m	[env.py: 870]
+05/10 20:55:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:55:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7361259   0.76446087  0.0416802 ] yaw=-160.7deg	[env.py: 1019]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:55:56 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:55:56 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.580[deg]	[grasp_sample.py: 539]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76330214  0.66265515  0.0416802 ] yaw=-180.2deg	[env.py: 1019]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:55:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=352.9ms, total=352.9ms	[env.py: 1075]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.764, 0.042)	[env.py: 1079]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg	[env.py: 1082]
+05/10 20:55:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/10 20:55:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:55:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:55:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:55:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:55:56 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:55:56 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:55:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:55:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:55:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:55:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:55:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:55:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:55:57 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.762s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:55:57 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.563[m] 93.167[deg]	[grasp_sample.py: 539]
+05/10 20:55:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:55:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:55:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 20:56:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:56:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:56:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:56:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:56:19 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:56:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:56:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:56:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:56:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.93s (batch: 4.28s, save: 10.65s)	[pipeline.py: 300]
+05/10 20:56:25 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.87s:
+  episode_total: mean=103.93s, total=207.87s, count=2, min=424.0ms, max=207445.7ms
+  sensor_polling: mean=512.6ms, total=153.78s, count=300, min=445.6ms, max=860.5ms
+  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10645.7ms, max=10645.7ms
+  physics_step: mean=24.6ms, total=7.37s, count=300, min=16.2ms, max=58.0ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.8ms, max=4283.8ms
+  task_specific_sample: mean=641.4ms, total=1.28s, count=2, min=417.0ms, max=865.7ms
+  task_sampling: mean=869.0ms, total=869.0ms, count=1, min=869.0ms, max=869.0ms
+  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=536.7us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:56:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:56:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:56:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:56:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:56:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:56:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:56:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097099m	[env.py: 870]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:56:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11552595  0.95286329  0.09709915] yaw=-138.6deg	[env.py: 1019]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66141073  0.460656    0.09709915] yaw=184.3deg	[env.py: 1019]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04212281  1.22682431  0.09709915] yaw=-128.7deg	[env.py: 1019]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:56:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms	[env.py: 1075]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.116, 0.953, 0.097)	[env.py: 1079]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg	[env.py: 1082]
+05/10 20:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.752m	[env.py: 1086]
+05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:56:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:56:28 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:56:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:56:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:56:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:56:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:56:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.105s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:56:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.304[m] 84.198[deg]	[grasp_sample.py: 539]
+05/10 20:56:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:56:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:56:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:56:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:56:44 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:56:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 20:56:44 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/10 20:56:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:56:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:56:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.55s (batch: 4.45s, save: 11.10s)	[pipeline.py: 300]
+05/10 20:57:00 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.38s:
+  episode_total: mean=203.31s, total=203.31s, count=1, min=203308.6ms, max=203308.6ms
+  sensor_polling: mean=509.6ms, total=148.30s, count=291, min=440.6ms, max=879.7ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11103.5ms, max=11103.5ms
+  physics_step: mean=27.4ms, total=7.98s, count=291, min=18.5ms, max=90.9ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4450.5ms, max=4450.5ms
+  task_sampling: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms
+  task_specific_sample: mean=376.7ms, total=376.7ms, count=1, min=376.7ms, max=376.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=411.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:57:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:57:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:57:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:57:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:57:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:57:02 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:57:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:57:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:57:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014054m	[env.py: 870]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:57:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68662972  0.69979202  0.01405362] yaw=-157.5deg	[env.py: 1019]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92172603  0.53419426  0.01405362] yaw=-167.7deg	[env.py: 1019]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89096877  0.24415586  0.01405362] yaw=171.3deg	[env.py: 1019]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:57:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.2ms	[env.py: 1075]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.700, 0.014)	[env.py: 1079]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg	[env.py: 1082]
+05/10 20:57:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:57:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:57:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:57:02 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:57:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:57:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:57:03 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:57:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:57:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.283s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:57:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.647[m] 98.468[deg]	[grasp_sample.py: 539]
+05/10 20:57:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:57:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:57:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:57:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:57:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:57:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:57:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:57:25 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:57:50 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:57:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 20:57:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:58:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:58:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:58:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.00s (batch: 4.89s, save: 11.11s)	[pipeline.py: 300]
+05/10 20:58:06 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.17s:
+  episode_total: mean=118.94s, total=237.87s, count=2, min=4011.8ms, max=233859.0ms
+  sensor_polling: mean=529.2ms, total=158.76s, count=300, min=452.6ms, max=946.7ms
+  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11107.9ms, max=11107.9ms
+  physics_step: mean=27.0ms, total=8.09s, count=300, min=15.1ms, max=109.1ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4888.6ms, max=4888.6ms
+  task_sampling: mean=583.2ms, total=1.17s, count=2, min=569.1ms, max=597.2ms
+  task_specific_sample: mean=579.6ms, total=1.16s, count=2, min=565.5ms, max=593.6ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.5ms, max=2.4ms
+  mj_forward_sync: mean=473.6us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:58:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:58:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:58:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:58:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:58:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:58:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:58:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058236m	[env.py: 870]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:58:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8177581   0.64753227  0.05823607] yaw=-180.5deg	[env.py: 1019]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90228462  1.1897263   0.05823607] yaw=-142.9deg	[env.py: 1019]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06716775  1.06635453  0.05823607] yaw=-126.6deg	[env.py: 1019]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:58:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.4ms, total=177.4ms	[env.py: 1075]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.648, 0.058)	[env.py: 1079]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.5 deg	[env.py: 1082]
+05/10 20:58:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:58:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:58:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:58:09 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:58:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:58:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:58:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:58:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:58:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:58:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.468[m] 92.401[deg]	[grasp_sample.py: 539]
+05/10 20:58:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:58:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:58:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:58:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:58:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:58:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:58:43 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:58:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:59:06 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:59:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 20:59:08 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:59:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 20:59:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 20:59:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:59:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:59:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:59:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.32s (batch: 4.36s, save: 8.96s)	[pipeline.py: 300]
+05/10 20:59:22 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.18s:
+  episode_total: mean=191.69s, total=383.39s, count=2, min=176533.5ms, max=206856.0ms
+  sensor_polling: mean=515.9ms, total=306.95s, count=595, min=442.3ms, max=897.5ms
+  physics_step: mean=25.6ms, total=15.24s, count=595, min=16.5ms, max=87.9ms
+  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8960.6ms, max=8960.6ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.9ms, max=4358.9ms
+  task_sampling: mean=592.5ms, total=1.18s, count=2, min=564.0ms, max=620.9ms
+  task_specific_sample: mean=588.0ms, total=1.18s, count=2, min=559.5ms, max=616.4ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.1ms, max=3.0ms
+  mj_forward_sync: mean=665.6us, total=1.3ms, count=2, min=0.5ms, max=0.8ms
+  policy_setup: mean=22.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:59:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:59:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:59:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:59:24 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:59:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:59:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:59:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022429m	[env.py: 870]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:59:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98518954  0.11480278  0.02242917] yaw=152.9deg	[env.py: 1019]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62239459  0.68031123  0.02242917] yaw=-180.6deg	[env.py: 1019]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02356828  0.90116622  0.02242917] yaw=-143.7deg	[env.py: 1019]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:59:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms	[env.py: 1075]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.115, 0.022)	[env.py: 1079]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 152.9 deg	[env.py: 1082]
+05/10 20:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:59:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:59:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:59:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:59:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:59:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:59:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:59:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:59:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.380[m] 95.415[deg]	[grasp_sample.py: 539]
+05/10 20:59:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:59:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:59:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 20:59:26 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 20:59:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 20:59:26 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/10 20:59:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 20:59:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 20:59:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.27s (batch: 4.26s, save: 11.01s)	[pipeline.py: 300]
+05/10 20:59:42 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.51s:
+  episode_total: mean=194.88s, total=194.88s, count=1, min=194881.2ms, max=194881.2ms
+  sensor_polling: mean=518.6ms, total=146.24s, count=282, min=452.4ms, max=793.2ms
+  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11009.8ms, max=11009.8ms
+  physics_step: mean=25.4ms, total=7.15s, count=282, min=18.3ms, max=76.6ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.7ms, max=4263.7ms
+  task_sampling: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms
+  task_specific_sample: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 20:59:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:59:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:59:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:59:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:59:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:59:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:59:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061877m	[env.py: 870]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:59:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74420959  0.92878608  0.06187672] yaw=-164.9deg	[env.py: 1019]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76783102  0.23666016  0.06187672] yaw=162.8deg	[env.py: 1019]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97854473  0.90399044  0.06187672] yaw=-147.7deg	[env.py: 1019]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:59:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.0ms, total=160.0ms	[env.py: 1075]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.929, 0.062)	[env.py: 1079]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg	[env.py: 1082]
+05/10 20:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:59:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:59:44 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:59:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:59:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:59:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:59:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:59:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.944s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:59:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.674[m] 94.085[deg]	[grasp_sample.py: 539]
+05/10 20:59:47 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 20:59:49 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 20:59:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 20:59:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 20:59:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:59:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 20:59:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 20:59:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 20:59:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025708m	[env.py: 870]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 20:59:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03868252  0.9814581   0.02570762] yaw=-133.7deg	[env.py: 1019]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93708032  1.01935324  0.02570762] yaw=-139.8deg	[env.py: 1019]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88106154  0.14791502  0.02570762] yaw=164.8deg	[env.py: 1019]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 20:59:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.5ms, total=119.5ms	[env.py: 1075]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.981, 0.026)	[env.py: 1079]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg	[env.py: 1082]
+05/10 20:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 20:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 20:59:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 20:59:50 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 20:59:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/10 20:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 20:59:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 20:59:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 20:59:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.574s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 20:59:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.398[m] 87.185[deg]	[grasp_sample.py: 539]
+05/10 20:59:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 20:59:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 20:59:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:00:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:00:16 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:00:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:00:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:00:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:00:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:00:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:00:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:00:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.70s (batch: 4.25s, save: 9.44s)	[pipeline.py: 300]
+05/10 21:00:30 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
+  episode_total: mean=208.07s, total=208.07s, count=1, min=208071.2ms, max=208071.2ms
+  sensor_polling: mean=511.8ms, total=153.53s, count=300, min=442.5ms, max=761.9ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9443.4ms, max=9443.4ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=18.4ms, max=117.6ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4254.3ms, max=4254.3ms
+  task_sampling: mean=591.1ms, total=591.1ms, count=1, min=591.1ms, max=591.1ms
+  task_specific_sample: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=541.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:00:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:00:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:00:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:00:32 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:00:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:00:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:00:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004523m	[env.py: 870]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:00:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0550315   1.1760481   0.00452296] yaw=-138.3deg	[env.py: 1019]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90822355  0.73349082  0.00452296] yaw=-155.7deg	[env.py: 1019]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97950935  0.80663366  0.00452296] yaw=-164.8deg	[env.py: 1019]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:00:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms	[env.py: 1075]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.176, 0.005)	[env.py: 1079]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.3 deg	[env.py: 1082]
+05/10 21:00:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
+05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:00:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:00:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:00:32 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:00:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:00:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:00:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:00:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:00:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:00:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.545s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:00:39 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.502[m] 83.955[deg]	[grasp_sample.py: 539]
+05/10 21:00:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:00:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:00:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:00:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:00:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:01:01 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:01:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:01:27 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:01:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:01:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:01:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:01:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:01:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:01:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:01:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:01:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:01:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:01:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.044[deg]	[grasp_sample.py: 539]
+05/10 21:01:32 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:01:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:01:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:01:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:01:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:01:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:01:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:01:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027318m	[env.py: 870]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:01:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78261569  0.41651374  0.02731753] yaw=179.7deg	[env.py: 1019]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94307933  0.23508737  0.02731753] yaw=152.7deg	[env.py: 1019]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95626565  1.09279234  0.02731753] yaw=-149.5deg	[env.py: 1019]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:01:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.5ms	[env.py: 1075]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.417, 0.027)	[env.py: 1079]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.7 deg	[env.py: 1082]
+05/10 21:01:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:01:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:01:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:01:34 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:01:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:01:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:01:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:01:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:01:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:01:35 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.475[m] 91.437[deg]	[grasp_sample.py: 539]
+05/10 21:01:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:01:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:01:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:01:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:01:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:01:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:01:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.09s (batch: 4.17s, save: 8.92s)	[pipeline.py: 300]
+05/10 21:01:40 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.48s:
+  episode_total: mean=212.38s, total=212.38s, count=1, min=212377.7ms, max=212377.7ms
+  sensor_polling: mean=529.0ms, total=158.70s, count=300, min=448.9ms, max=1008.7ms
+  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8919.5ms, max=8919.5ms
+  physics_step: mean=27.6ms, total=8.28s, count=300, min=16.0ms, max=114.8ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4172.1ms, max=4172.1ms
+  task_sampling: mean=475.4ms, total=475.4ms, count=1, min=475.4ms, max=475.4ms
+  task_specific_sample: mean=471.6ms, total=471.6ms, count=1, min=471.6ms, max=471.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:01:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:01:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:01:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:01:42 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:01:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:01:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:01:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053779m	[env.py: 870]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:01:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71426318  0.9031508   0.05377874] yaw=-160.2deg	[env.py: 1019]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96256052  0.08776028  0.05377874] yaw=148.0deg	[env.py: 1019]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75222253  0.66826684  0.05377874] yaw=-173.5deg	[env.py: 1019]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:01:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms	[env.py: 1075]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.903, 0.054)	[env.py: 1079]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg	[env.py: 1082]
+05/10 21:01:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:01:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:01:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:01:43 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:01:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:01:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:01:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:01:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:01:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:01:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:01:46 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.653[m] 88.589[deg]	[grasp_sample.py: 539]
+05/10 21:01:47 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:01:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:01:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:01:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:01:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:01:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:01:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:01:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040283m	[env.py: 870]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:01:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98872619  1.29691195  0.04028312] yaw=-136.1deg	[env.py: 1019]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81060443  0.69824669  0.04028312] yaw=-176.0deg	[env.py: 1019]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77912568  0.04698068  0.04028312] yaw=166.1deg	[env.py: 1019]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:01:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms	[env.py: 1075]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.989, 1.297, 0.040)	[env.py: 1079]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -136.1 deg	[env.py: 1082]
+05/10 21:01:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:01:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:01:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:01:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:01:50 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:01:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:01:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:01:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:01:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:01:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 21:01:51 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 21:01:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:01:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:01:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:01:53 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:01:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:01:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:01:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029912m	[env.py: 870]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:01:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82666199  0.0457798   0.02991188] yaw=142.1deg	[env.py: 1019]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00473511  1.14395742  0.02991188] yaw=-146.2deg	[env.py: 1019]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92932902  0.73246732  0.02991188] yaw=-167.1deg	[env.py: 1019]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:01:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.9ms, total=192.9ms	[env.py: 1075]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.046, 0.030)	[env.py: 1079]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg	[env.py: 1082]
+05/10 21:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:01:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:01:54 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:01:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:01:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:01:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:01:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:01:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:01:55 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.556[m] 87.567[deg]	[grasp_sample.py: 539]
+05/10 21:01:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:01:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:01:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:02:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:02:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:02:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:02:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:02:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:02:43 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:02:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:02:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:02:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:03:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:03:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:03:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:03:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:03:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:03:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:03:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:03:09 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:03:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:03:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:03:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:03:10 INFO: [Worker 0] Feasibility-checked 84 grasps in 1.712s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:03:10 INFO: [Worker 0] Feasible grasp found 160 (originally 45): w/ 0.154[m] 1.185[deg]	[grasp_sample.py: 539]
+05/10 21:03:11 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:03:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:03:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:03:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:03:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:03:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:03:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:03:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048756m	[env.py: 870]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:03:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07751986  1.20845387  0.04875569] yaw=-137.3deg	[env.py: 1019]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94549433  0.83285474  0.04875569] yaw=-162.9deg	[env.py: 1019]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83567939  0.55893469  0.04875569] yaw=-170.2deg	[env.py: 1019]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:03:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.1ms, total=309.2ms	[env.py: 1075]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.208, 0.049)	[env.py: 1079]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg	[env.py: 1082]
+05/10 21:03:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:03:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:03:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:03:13 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:03:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:03:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:03:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:03:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:03:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:03:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:03:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.519[m] 84.761[deg]	[grasp_sample.py: 539]
+05/10 21:03:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:03:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:03:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:03:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:03:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:03:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.56s (batch: 4.16s, save: 9.39s)	[pipeline.py: 300]
+05/10 21:03:23 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.93s:
+  episode_total: mean=109.03s, total=218.06s, count=2, min=3762.9ms, max=214292.6ms
+  sensor_polling: mean=518.3ms, total=155.50s, count=300, min=437.4ms, max=1021.9ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9394.6ms, max=9394.6ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=18.5ms, max=80.1ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4165.0ms, max=4165.0ms
+  task_sampling: mean=464.9ms, total=929.8ms, count=2, min=394.7ms, max=535.1ms
+  task_specific_sample: mean=461.4ms, total=922.8ms, count=2, min=391.6ms, max=531.2ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=431.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:03:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:03:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:03:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:03:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:03:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:03:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:03:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070359m	[env.py: 870]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:03:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6882743   0.77303825  0.07035882] yaw=-159.0deg	[env.py: 1019]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8717183   0.34470016  0.07035882] yaw=172.0deg	[env.py: 1019]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92836877  0.35679828  0.07035882] yaw=160.4deg	[env.py: 1019]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=445.2ms, total=445.2ms	[env.py: 1075]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.773, 0.070)	[env.py: 1079]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg	[env.py: 1082]
+05/10 21:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m	[env.py: 1086]
+05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:03:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:03:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:03:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:03:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:03:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:03:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:03:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:03:29 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.567[m] 76.978[deg]	[grasp_sample.py: 539]
+05/10 21:03:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:03:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:03:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:04:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:04:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:04:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:04:28 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:04:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:04:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:04:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:04:50 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:04:52 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:04:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:04:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:05:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:05:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:05:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.82s (batch: 4.82s, save: 8.99s)	[pipeline.py: 300]
+05/10 21:05:06 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.97s:
+  episode_total: mean=170.04s, total=340.08s, count=2, min=127662.5ms, max=212415.0ms
+  sensor_polling: mean=537.3ms, total=261.66s, count=487, min=453.5ms, max=932.4ms
+  physics_step: mean=25.8ms, total=12.57s, count=487, min=15.6ms, max=105.4ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8994.1ms, max=8994.1ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4821.5ms, max=4821.5ms
+  task_sampling: mean=485.3ms, total=970.7ms, count=2, min=452.0ms, max=518.7ms
+  task_specific_sample: mean=481.5ms, total=963.1ms, count=2, min=448.4ms, max=514.7ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
+  mj_forward_sync: mean=541.6us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:05:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:05:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:05:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:05:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:05:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:05:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:05:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084557m	[env.py: 870]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:05:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04503367  1.01307581  0.08455656] yaw=-152.1deg	[env.py: 1019]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66509817  0.22701632  0.08455656] yaw=163.0deg	[env.py: 1019]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74879686  0.13037515  0.08455656] yaw=162.7deg	[env.py: 1019]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:05:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.9ms	[env.py: 1075]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.045, 1.013, 0.085)	[env.py: 1079]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg	[env.py: 1082]
+05/10 21:05:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:05:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:05:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:05:08 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:05:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:05:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:05:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:05:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:05:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:05:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.447[m] 92.015[deg]	[grasp_sample.py: 539]
+05/10 21:05:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:05:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:05:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:05:11 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:05:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:05:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:05:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:05:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:05:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:05:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:05:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.49s (batch: 4.10s, save: 8.38s)	[pipeline.py: 300]
+05/10 21:05:24 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.47s:
+  episode_total: mean=72.99s, total=218.97s, count=3, min=2323.8ms, max=211261.8ms
+  sensor_polling: mean=541.8ms, total=162.53s, count=300, min=452.3ms, max=1056.4ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8382.9ms, max=8382.9ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=18.6ms, max=112.0ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.9ms, max=4104.9ms
+  task_sampling: mean=489.8ms, total=1.47s, count=3, min=445.5ms, max=578.5ms
+  task_specific_sample: mean=486.5ms, total=1.46s, count=3, min=441.3ms, max=575.4ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=452.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:05:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:05:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:05:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072848m	[env.py: 870]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88153064  0.1341821   0.07284762] yaw=158.5deg	[env.py: 1019]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72321941  0.94448097  0.07284762] yaw=-158.3deg	[env.py: 1019]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76383359  0.44076633  0.07284762] yaw=170.8deg	[env.py: 1019]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms	[env.py: 1075]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.134, 0.073)	[env.py: 1079]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg	[env.py: 1082]
+05/10 21:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:05:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:05:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:05:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:05:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:05:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:05:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:05:27 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:05:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:05:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:05:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.063s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:05:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.452[m] 91.162[deg]	[grasp_sample.py: 539]
+05/10 21:05:28 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.615s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:05:28 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.114[m] 2.277[deg]	[grasp_sample.py: 539]
+05/10 21:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:05:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:05:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:05:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:05:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:05:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:05:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:05:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:05:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:06:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:06:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:06:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:06:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:06:12 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:06:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:06:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:06:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:06:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:06:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:06:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:06:21 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.805s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 21:06:21 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 21:06:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:06:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:06:23 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:06:23 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:06:23 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:06:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:06:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046869m	[env.py: 870]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:06:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02601262  1.18533956  0.04686902] yaw=-143.7deg	[env.py: 1019]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98385857  1.09290373  0.04686902] yaw=-134.1deg	[env.py: 1019]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:06:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.5ms	[env.py: 1075]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.185, 0.047)	[env.py: 1079]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg	[env.py: 1082]
+05/10 21:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:06:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:06:24 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:06:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:06:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:06:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.645s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:06:25 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.624[m] 81.721[deg]	[grasp_sample.py: 539]
+05/10 21:06:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:06:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:06:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:06:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:06:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:06:37 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:06:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:06:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:06:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:06:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:06:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.72s (batch: 4.80s, save: 11.92s)	[pipeline.py: 300]
+05/10 21:06:55 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.75s:
+  episode_total: mean=208.91s, total=208.91s, count=1, min=208912.7ms, max=208912.7ms
+  sensor_polling: mean=504.8ms, total=151.43s, count=300, min=439.2ms, max=782.2ms
+  save_trajectories: mean=11.92s, total=11.92s, count=1, min=11919.7ms, max=11919.7ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.9ms, max=61.1ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4802.7ms, max=4802.7ms
+  task_sampling: mean=754.1ms, total=754.1ms, count=1, min=754.1ms, max=754.1ms
+  task_specific_sample: mean=749.4ms, total=749.4ms, count=1, min=749.4ms, max=749.4ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=546.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:06:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:06:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:06:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:06:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094808m	[env.py: 870]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86202496  0.11575007  0.09480783] yaw=162.8deg	[env.py: 1019]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86221134  0.90179343  0.09480783] yaw=-158.3deg	[env.py: 1019]
+05/10 21:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81107541  0.60100077  0.09480783] yaw=-167.9deg	[env.py: 1019]
+05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:06:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.9ms	[env.py: 1075]
+05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.116, 0.095)	[env.py: 1079]
+05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg	[env.py: 1082]
+05/10 21:06:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/10 21:06:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:06:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:06:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:06:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:06:57 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:06:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:06:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:06:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:06:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.518[m] 99.536[deg]	[grasp_sample.py: 539]
+05/10 21:06:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:06:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:06:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:07:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:07:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:07:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:07:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:07:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:07:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:07:58 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.008s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:07:58 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.541[deg]	[grasp_sample.py: 539]
+05/10 21:07:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:08:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:08:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:08:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:08:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:08:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:08:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.547s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:08:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.395[deg]	[grasp_sample.py: 539]
+05/10 21:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:08:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:08:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:08:14 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:08:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081595m	[env.py: 870]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92635536  0.99444095  0.08159465] yaw=-135.9deg	[env.py: 1019]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77760671  0.5167301   0.08159465] yaw=-171.4deg	[env.py: 1019]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91171985  0.26897134  0.08159465] yaw=154.5deg	[env.py: 1019]
+05/10 21:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:08:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.4ms, total=351.5ms	[env.py: 1075]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.994, 0.082)	[env.py: 1079]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg	[env.py: 1082]
+05/10 21:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/10 21:08:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:08:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:08:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.108s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:08:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:08:15 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:08:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:08:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:08:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:08:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:08:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.360s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:08:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.500[deg]	[grasp_sample.py: 539]
+05/10 21:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:08:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:08:16 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.514[m] 84.727[deg]	[grasp_sample.py: 539]
+05/10 21:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:08:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:08:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:08:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:08:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:08:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:08:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:09:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:09:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:09:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:09:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:09:01 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:09:03 INFO: [Worker 0] Feasibility-checked 78 grasps in 3.677s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 21:09:03 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 21:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:09:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:09:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:09:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:09:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097057m	[env.py: 870]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06497662  1.15717555  0.09705713] yaw=-127.2deg	[env.py: 1019]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6871944   0.12511657  0.09705713] yaw=156.5deg	[env.py: 1019]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:09:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=454.9ms, total=455.0ms	[env.py: 1075]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.157, 0.097)	[env.py: 1079]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg	[env.py: 1082]
+05/10 21:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:09:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:09:06 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:09:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:09:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:09:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:09:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:09:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.997s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:09:09 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.568[m] 92.164[deg]	[grasp_sample.py: 539]
+05/10 21:09:10 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:09:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:09:12 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:09:12 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:09:12 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:09:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021254m	[env.py: 870]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84313615  0.95330353  0.02125394] yaw=-142.2deg	[env.py: 1019]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02021785  1.06401111  0.02125394] yaw=-139.0deg	[env.py: 1019]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.9ms	[env.py: 1075]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.953, 0.021)	[env.py: 1079]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg	[env.py: 1082]
+05/10 21:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.980m	[env.py: 1086]
+05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:09:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:09:13 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:09:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:09:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:09:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:09:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:09:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 6.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:09:19 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.572[m] 92.767[deg]	[grasp_sample.py: 539]
+05/10 21:09:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:09:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:09:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:09:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:09:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:09:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:09:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:09:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:09:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:09:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:09:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:09:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.855s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:09:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.359[deg]	[grasp_sample.py: 539]
+05/10 21:09:38 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:09:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:09:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:09:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:09:40 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:09:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:09:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:09:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026858m	[env.py: 870]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:09:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76180604  0.94642698  0.02685766] yaw=-163.8deg	[env.py: 1019]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13545047  1.10226783  0.02685766] yaw=-123.4deg	[env.py: 1019]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70972525  0.54713856  0.02685766] yaw=-178.7deg	[env.py: 1019]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:09:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.8ms	[env.py: 1075]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.946, 0.027)	[env.py: 1079]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg	[env.py: 1082]
+05/10 21:09:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
+05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:09:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:09:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:09:40 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:09:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:09:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:09:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:09:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:09:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:09:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.657[m] 93.126[deg]	[grasp_sample.py: 539]
+05/10 21:09:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:09:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:09:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:09:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:09:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:09:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.91s (batch: 5.11s, save: 10.81s)	[pipeline.py: 300]
+05/10 21:09:44 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s:
+  episode_total: mean=257.86s, total=257.86s, count=1, min=257855.6ms, max=257855.6ms
+  sensor_polling: mean=542.6ms, total=162.78s, count=300, min=454.5ms, max=1055.2ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10808.1ms, max=10808.1ms
+  physics_step: mean=26.8ms, total=8.05s, count=300, min=14.1ms, max=127.5ms
+  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5105.8ms, max=5105.8ms
+  task_sampling: mean=468.6ms, total=468.6ms, count=1, min=468.6ms, max=468.6ms
+  task_specific_sample: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=409.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:09:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:09:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:09:46 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:09:46 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:09:46 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:09:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:09:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053661m	[env.py: 870]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:09:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82116156  0.33465716  0.05366126] yaw=177.5deg	[env.py: 1019]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70464471  0.54473044  0.05366126] yaw=-179.9deg	[env.py: 1019]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94714801  1.03460657  0.05366126] yaw=-144.1deg	[env.py: 1019]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:09:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.1ms, total=119.2ms	[env.py: 1075]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.335, 0.054)	[env.py: 1079]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg	[env.py: 1082]
+05/10 21:09:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:09:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:09:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:09:46 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:09:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:09:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:09:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:09:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:09:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.501s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:09:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.501[m] 95.190[deg]	[grasp_sample.py: 539]
+05/10 21:09:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:09:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:09:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:10:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:10:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:10:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:10:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:10:53 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 21:10:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:10:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:10:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:10:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 84 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:10:53 INFO: [Worker 0] Feasibility-checked 84 grasps in 0.486s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:10:53 INFO: [Worker 0] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.972[deg]	[grasp_sample.py: 539]
+05/10 21:10:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:10:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:10:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:10:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:10:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:11:00 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:11:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:11:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:11:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:11:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:11:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:11:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:11:23 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:11:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:11:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:11:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:11:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:11:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.62s (batch: 4.14s, save: 8.48s)	[pipeline.py: 300]
+05/10 21:11:37 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.07s:
+  episode_total: mean=193.66s, total=387.33s, count=2, min=184509.1ms, max=202820.0ms
+  sensor_polling: mean=519.5ms, total=308.61s, count=594, min=438.4ms, max=989.5ms
+  physics_step: mean=25.8ms, total=15.33s, count=594, min=15.8ms, max=102.6ms
+  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8482.7ms, max=8482.7ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.5ms, max=4138.5ms
+  task_sampling: mean=536.9ms, total=1.07s, count=2, min=451.3ms, max=622.4ms
+  task_specific_sample: mean=533.3ms, total=1.07s, count=2, min=447.3ms, max=619.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=456.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:11:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:11:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:11:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:11:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:11:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:11:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:11:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028374m	[env.py: 870]
+05/10 21:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:11:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92859034  1.17465887  0.02837406] yaw=-135.7deg	[env.py: 1019]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88348697  1.00175933  0.02837406] yaw=-152.7deg	[env.py: 1019]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92005848  0.45639897  0.02837406] yaw=168.3deg	[env.py: 1019]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:11:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.0ms, total=141.0ms	[env.py: 1075]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.175, 0.028)	[env.py: 1079]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.7 deg	[env.py: 1082]
+05/10 21:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/10 21:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:11:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:11:39 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:11:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:11:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:11:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:11:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:11:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.650[m] 99.437[deg]	[grasp_sample.py: 539]
+05/10 21:11:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:11:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:11:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:12:04 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:12:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:12:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:12:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:12:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:12:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:12:23 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:12:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:12:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:12:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:12:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:12:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:12:27 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:12:27 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.397[deg]	[grasp_sample.py: 539]
+05/10 21:12:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:12:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:12:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:12:27 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:12:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:12:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:12:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:12:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:12:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:12:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.44s (batch: 4.18s, save: 9.26s)	[pipeline.py: 300]
+05/10 21:12:41 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=2.93s:
+  episode_total: mean=144.44s, total=722.19s, count=5, min=4921.5ms, max=209105.0ms
+  sensor_polling: mean=511.5ms, total=563.20s, count=1101, min=425.5ms, max=1050.4ms
+  physics_step: mean=25.0ms, total=27.53s, count=1101, min=15.2ms, max=101.5ms
+  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.7ms, max=9263.7ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.4ms, max=4180.4ms
+  task_sampling: mean=586.8ms, total=2.93s, count=5, min=505.4ms, max=759.0ms
+  task_specific_sample: mean=583.0ms, total=2.92s, count=5, min=500.7ms, max=755.5ms
+  scene_randomize: mean=1.7ms, total=8.6ms, count=5, min=1.2ms, max=3.2ms
+  mj_forward_sync: mean=470.8us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:12:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:12:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:12:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:12:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:12:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:12:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:12:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060916m	[env.py: 870]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:12:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67948828  0.25735025  0.06091564] yaw=168.2deg	[env.py: 1019]
+05/10 21:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79575485  0.82903226  0.06091564] yaw=-150.2deg	[env.py: 1019]
+05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:12:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=418.5ms, total=418.5ms	[env.py: 1075]
+05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.257, 0.061)	[env.py: 1079]
+05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg	[env.py: 1082]
+05/10 21:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/10 21:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:12:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:12:44 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:12:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:12:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:12:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:12:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:12:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.672s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:12:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.638[m] 95.886[deg]	[grasp_sample.py: 539]
+05/10 21:12:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:12:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:12:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:12:48 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:12:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:12:48 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:12:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:12:49 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:13:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:13:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:13:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:13:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.98s (batch: 5.40s, save: 9.58s)	[pipeline.py: 300]
+05/10 21:13:03 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.93s:
+  episode_total: mean=182.28s, total=364.57s, count=2, min=161375.7ms, max=203194.1ms
+  sensor_polling: mean=511.6ms, total=283.41s, count=554, min=427.9ms, max=1191.0ms
+  physics_step: mean=25.1ms, total=13.89s, count=554, min=15.1ms, max=112.2ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9577.4ms, max=9577.4ms
+  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5403.2ms, max=5403.2ms
+  task_sampling: mean=463.1ms, total=926.2ms, count=2, min=400.0ms, max=526.2ms
+  task_specific_sample: mean=459.2ms, total=918.5ms, count=2, min=396.4ms, max=522.0ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.8ms
+  mj_forward_sync: mean=504.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:13:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:13:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:13:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:13:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:13:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:13:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:13:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:13:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018486m	[env.py: 870]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:13:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00915683  0.95196939  0.01848562] yaw=-143.0deg	[env.py: 1019]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7464437   0.09366935  0.01848562] yaw=153.8deg	[env.py: 1019]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80733136  0.26203661  0.01848562] yaw=162.1deg	[env.py: 1019]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:13:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.6ms	[env.py: 1075]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.952, 0.018)	[env.py: 1079]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg	[env.py: 1082]
+05/10 21:13:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:13:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:13:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:13:05 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:13:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:13:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:13:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:13:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:13:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:13:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.462[m] 98.355[deg]	[grasp_sample.py: 539]
+05/10 21:13:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:13:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:13:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:13:13 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:13:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:13:13 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:13:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:13:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:13:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.06s (batch: 4.38s, save: 11.68s)	[pipeline.py: 300]
+05/10 21:13:29 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
+  episode_total: mean=223.74s, total=223.74s, count=1, min=223738.3ms, max=223738.3ms
+  sensor_polling: mean=524.2ms, total=157.27s, count=300, min=434.9ms, max=939.9ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11679.5ms, max=11679.5ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=15.8ms, max=115.3ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.1ms, max=4384.1ms
+  task_sampling: mean=430.1ms, total=430.1ms, count=1, min=430.1ms, max=430.1ms
+  task_specific_sample: mean=425.0ms, total=425.0ms, count=1, min=425.0ms, max=425.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=588.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:13:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:13:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:13:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:13:31 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:13:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:13:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:13:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003857m	[env.py: 870]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:13:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73056655  0.94092386  0.00385735] yaw=-147.3deg	[env.py: 1019]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:13:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms	[env.py: 1075]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.941, 0.004)	[env.py: 1079]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg	[env.py: 1082]
+05/10 21:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/10 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:13:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:13:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:13:32 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:13:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:13:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:13:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:13:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:13:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.695s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:13:34 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.649[m] 86.943[deg]	[grasp_sample.py: 539]
+05/10 21:13:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:13:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:13:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:14:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:14:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:14:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:14:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:14:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:14:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:14:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:14:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:14:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:14:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:14:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:14:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:14:19 INFO: [Worker 0] Feasibility-checked 70 grasps in 1.740s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 21:14:19 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 21:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:14:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:14:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:14:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:14:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:14:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062896m	[env.py: 870]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99998044  0.84898364  0.06289584] yaw=-161.7deg	[env.py: 1019]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0402408   1.10424358  0.06289584] yaw=-147.9deg	[env.py: 1019]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.1ms, total=181.1ms	[env.py: 1075]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.849, 0.063)	[env.py: 1079]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg	[env.py: 1082]
+05/10 21:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:14:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:14:22 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:14:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:14:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:14:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:14:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:14:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.381[m] 88.355[deg]	[grasp_sample.py: 539]
+05/10 21:14:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:14:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:14:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:14:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:14:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:14:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:15:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:15:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:15:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:15:33 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:15:52 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:16:00 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:16:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:16:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:16:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:16:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:16:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.34s (batch: 5.08s, save: 10.26s)	[pipeline.py: 300]
+05/10 21:16:16 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.78s:
+  episode_total: mean=212.63s, total=212.63s, count=1, min=212633.3ms, max=212633.3ms
+  sensor_polling: mean=517.2ms, total=155.16s, count=300, min=432.4ms, max=909.4ms
+  save_trajectories: mean=10.26s, total=10.26s, count=1, min=10259.0ms, max=10259.0ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.5ms, max=88.0ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5082.9ms, max=5082.9ms
+  task_sampling: mean=780.7ms, total=780.7ms, count=1, min=780.7ms, max=780.7ms
+  task_specific_sample: mean=776.0ms, total=776.0ms, count=1, min=776.0ms, max=776.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=526.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:16:17 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:16:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:16:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:16:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:16:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:16:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:16:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:16:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004860m	[env.py: 870]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:16:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6516722   0.61759956  0.00485972] yaw=-175.2deg	[env.py: 1019]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9080335   0.13515699  0.00485972] yaw=156.3deg	[env.py: 1019]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81337929  0.13549459  0.00485972] yaw=154.8deg	[env.py: 1019]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:16:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms	[env.py: 1075]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.618, 0.005)	[env.py: 1079]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg	[env.py: 1082]
+05/10 21:16:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m	[env.py: 1086]
+05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:16:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:16:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:16:18 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:16:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:16:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:16:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:16:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:16:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:16:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.615[m] 89.708[deg]	[grasp_sample.py: 539]
+05/10 21:16:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:16:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:16:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:16:20 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:16:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:16:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:16:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:16:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:16:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.71s (batch: 4.34s, save: 10.38s)	[pipeline.py: 300]
+05/10 21:16:36 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s:
+  episode_total: mean=211.15s, total=211.15s, count=1, min=211145.4ms, max=211145.4ms
+  sensor_polling: mean=514.6ms, total=154.37s, count=300, min=439.6ms, max=873.6ms
+  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10376.1ms, max=10376.1ms
+  physics_step: mean=25.8ms, total=7.73s, count=300, min=14.7ms, max=82.9ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.7ms, max=4336.7ms
+  task_sampling: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
+  task_specific_sample: mean=434.0ms, total=434.0ms, count=1, min=434.0ms, max=434.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=422.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:16:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:16:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:16:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:16:38 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:16:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:16:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:16:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098945m	[env.py: 870]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:16:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94107954  1.27495925  0.09894454] yaw=-142.2deg	[env.py: 1019]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88610995  0.94020502  0.09894454] yaw=-156.4deg	[env.py: 1019]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01253029  0.90722948  0.09894454] yaw=-146.3deg	[env.py: 1019]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:16:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=421.1ms, total=421.2ms	[env.py: 1075]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 1.275, 0.099)	[env.py: 1079]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg	[env.py: 1082]
+05/10 21:16:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:16:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:16:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:16:39 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:16:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:16:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:16:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:16:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:16:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.006s, found feasible grasp: False	[grasp_sample.py: 500]
+05/10 21:16:42 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/10 21:16:43 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:16:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:16:43 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:16:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:16:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:16:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:16:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:16:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:16:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:16:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099381m	[env.py: 870]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:16:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96739824  0.821801    0.09938121] yaw=-154.2deg	[env.py: 1019]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82488118  0.4547541   0.09938121] yaw=179.0deg	[env.py: 1019]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08665308  1.05510919  0.09938121] yaw=-140.0deg	[env.py: 1019]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:16:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.7ms	[env.py: 1075]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.822, 0.099)	[env.py: 1079]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/10 21:16:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:16:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:16:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:16:44 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:16:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:16:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:16:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:16:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:16:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.730s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:16:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.353[m] 85.056[deg]	[grasp_sample.py: 539]
+05/10 21:16:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:16:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:16:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:16:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:16:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:16:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.84s (batch: 4.33s, save: 8.50s)	[pipeline.py: 300]
+05/10 21:16:56 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s:
+  episode_total: mean=204.80s, total=204.80s, count=1, min=204796.6ms, max=204796.6ms
+  sensor_polling: mean=506.9ms, total=152.07s, count=300, min=437.6ms, max=856.8ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8504.7ms, max=8504.7ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=14.8ms, max=83.6ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4331.9ms, max=4331.9ms
+  task_sampling: mean=514.7ms, total=514.7ms, count=1, min=514.7ms, max=514.7ms
+  task_specific_sample: mean=509.8ms, total=509.8ms, count=1, min=509.8ms, max=509.8ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=582.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:16:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:16:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:16:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:16:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:16:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:16:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:16:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065755m	[env.py: 870]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:16:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6911446   0.43817937  0.0657553 ] yaw=169.1deg	[env.py: 1019]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97721703  1.07370394  0.0657553 ] yaw=-147.6deg	[env.py: 1019]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:16:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.7ms, total=186.7ms	[env.py: 1075]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.438, 0.066)	[env.py: 1079]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
+05/10 21:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:16:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:16:58 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:16:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:16:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:16:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:16:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:16:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.636s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:16:59 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.566[m] 91.174[deg]	[grasp_sample.py: 539]
+05/10 21:16:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:17:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:17:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:17:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:17:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:17:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:17:31 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:17:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:17:31 INFO: [Worker 0] Preparing episode data: 297 timesteps	[save_utils.py: 278]
+05/10 21:17:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:17:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:17:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:17:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:17:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:17:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:17:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 15.70s (batch: 4.69s, save: 11.01s)	[pipeline.py: 300]
+05/10 21:17:48 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.87s:
+  episode_total: mean=183.62s, total=367.25s, count=2, min=161002.4ms, max=206245.9ms
+  sensor_polling: mean=508.0ms, total=287.53s, count=566, min=433.3ms, max=1026.0ms
+  physics_step: mean=24.9ms, total=14.10s, count=566, min=16.6ms, max=110.2ms
+  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11014.1ms, max=11014.1ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4688.2ms, max=4688.2ms
+  task_sampling: mean=436.1ms, total=872.2ms, count=2, min=432.8ms, max=439.4ms
+  task_specific_sample: mean=432.2ms, total=864.4ms, count=2, min=428.9ms, max=435.5ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms
+  mj_forward_sync: mean=542.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:17:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:17:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:17:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:17:49 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:17:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:17:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:17:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085704m	[env.py: 870]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:17:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80090426  0.54350799  0.08570396] yaw=-167.8deg	[env.py: 1019]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06586549  1.13886498  0.08570396] yaw=-134.7deg	[env.py: 1019]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88294011  1.1718493   0.08570396] yaw=-144.3deg	[env.py: 1019]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:17:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.6ms, total=106.6ms	[env.py: 1075]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.544, 0.086)	[env.py: 1079]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
+05/10 21:17:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:17:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:17:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:17:50 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:17:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:17:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:17:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:17:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:17:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:17:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.455[m] 83.621[deg]	[grasp_sample.py: 539]
+05/10 21:17:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:17:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:17:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:18:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:18:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:18:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:18:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:18:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:18:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:19:04 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:19:31 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:19:32 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:19:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:19:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:19:45 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:19:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:19:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:19:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.72s (batch: 4.49s, save: 9.23s)	[pipeline.py: 300]
+05/10 21:19:46 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s:
+  episode_total: mean=208.41s, total=208.41s, count=1, min=208406.6ms, max=208406.6ms
+  sensor_polling: mean=513.7ms, total=154.12s, count=300, min=442.3ms, max=860.1ms
+  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9230.4ms, max=9230.4ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.5ms, max=129.1ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4488.5ms, max=4488.5ms
+  task_sampling: mean=460.4ms, total=460.4ms, count=1, min=460.4ms, max=460.4ms
+  task_specific_sample: mean=455.3ms, total=455.3ms, count=1, min=455.3ms, max=455.3ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=641.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:19:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:19:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:19:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:19:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:19:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:19:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:19:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009104m	[env.py: 870]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:19:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92855029  0.9363339   0.00910388] yaw=-153.7deg	[env.py: 1019]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70900772  0.67431249  0.00910388] yaw=-170.3deg	[env.py: 1019]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:19:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms	[env.py: 1075]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.936, 0.009)	[env.py: 1079]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg	[env.py: 1082]
+05/10 21:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:19:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:19:48 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:19:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:19:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:19:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:19:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:19:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.133s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:19:50 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.511[m] 91.675[deg]	[grasp_sample.py: 539]
+05/10 21:19:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:19:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:19:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:20:00 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:20:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:20:00 INFO: [Worker 0] Preparing episode data: 293 timesteps	[save_utils.py: 278]
+05/10 21:20:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:12 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:20:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:20:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:20:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:20:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:20:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.20s (batch: 4.92s, save: 9.28s)	[pipeline.py: 300]
+05/10 21:20:14 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.21s:
+  episode_total: mean=107.27s, total=214.55s, count=2, min=3958.6ms, max=210587.9ms
+  sensor_polling: mean=527.8ms, total=154.13s, count=292, min=437.2ms, max=1281.9ms
+  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9276.1ms, max=9276.1ms
+  physics_step: mean=26.1ms, total=7.63s, count=292, min=15.8ms, max=126.1ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4921.1ms, max=4921.1ms
+  task_sampling: mean=606.5ms, total=1.21s, count=2, min=450.0ms, max=762.9ms
+  task_specific_sample: mean=601.5ms, total=1.20s, count=2, min=444.6ms, max=758.3ms
+  scene_randomize: mean=2.9ms, total=5.9ms, count=2, min=2.7ms, max=3.2ms
+  mj_forward_sync: mean=874.0us, total=1.7ms, count=2, min=0.6ms, max=1.2ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:20:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:20:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:20:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:20:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:20:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:20:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028885m	[env.py: 870]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:20:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67935582  0.47566532  0.0288846 ] yaw=185.4deg	[env.py: 1019]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77584687  0.14391026  0.0288846 ] yaw=161.3deg	[env.py: 1019]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95801537  0.70958971  0.0288846 ] yaw=-163.3deg	[env.py: 1019]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:20:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.3ms	[env.py: 1075]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.476, 0.029)	[env.py: 1079]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg	[env.py: 1082]
+05/10 21:20:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m	[env.py: 1086]
+05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:20:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:20:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:20:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:20:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:20:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:20:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:20:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:20:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.533[m] 76.759[deg]	[grasp_sample.py: 539]
+05/10 21:20:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:20:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:20:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:20:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:20:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:20:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:20:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:20:21 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.681s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:20:21 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.155[deg]	[grasp_sample.py: 539]
+05/10 21:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:20:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:20:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:20:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:20:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.51s (batch: 4.37s, save: 9.14s)	[pipeline.py: 300]
+05/10 21:20:26 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
+  episode_total: mean=207.89s, total=207.89s, count=1, min=207891.6ms, max=207891.6ms
+  sensor_polling: mean=514.3ms, total=154.29s, count=300, min=442.7ms, max=1090.4ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9142.4ms, max=9142.4ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.5ms, max=74.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.7ms, max=4366.7ms
+  task_sampling: mean=472.4ms, total=472.4ms, count=1, min=472.4ms, max=472.4ms
+  task_specific_sample: mean=468.3ms, total=468.3ms, count=1, min=468.3ms, max=468.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:20:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:20:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:20:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:20:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:20:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:20:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:20:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:20:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:20:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004559m	[env.py: 870]
+05/10 21:20:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:20:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99042119  0.14648002  0.00455889] yaw=166.1deg	[env.py: 1019]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88709121  0.41426274  0.00455889] yaw=185.2deg	[env.py: 1019]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92005349  0.78006857  0.00455889] yaw=-162.4deg	[env.py: 1019]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:20:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=562.0ms, total=562.0ms	[env.py: 1075]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.146, 0.005)	[env.py: 1079]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg	[env.py: 1082]
+05/10 21:20:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.787m	[env.py: 1086]
+05/10 21:20:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:20:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:20:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:20:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:20:29 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:20:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:20:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:20:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:20:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:20:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:20:31 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.419[m] 96.458[deg]	[grasp_sample.py: 539]
+05/10 21:20:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:20:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:20:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:20:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:20:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:20:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:20:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:21:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:21:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:21:07 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 21:21:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:21:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:21:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:21:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 82 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:21:07 INFO: [Worker 0] Feasibility-checked 82 grasps in 0.461s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:21:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.122[m] 3.023[deg]	[grasp_sample.py: 539]
+05/10 21:21:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:21:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:21:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:21:14 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/10 21:21:14 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=0.41s:
+  episode_total: mean=204.80s, total=204.80s, count=1, min=204803.2ms, max=204803.2ms
+  sensor_polling: mean=521.2ms, total=156.36s, count=300, min=444.9ms, max=1178.7ms
+  physics_step: mean=23.8ms, total=7.15s, count=300, min=14.5ms, max=92.6ms
+  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
+  task_specific_sample: mean=402.6ms, total=402.6ms, count=1, min=402.6ms, max=402.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=411.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:21:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:21:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:21:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:21:16 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:21:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:21:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:21:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084384m	[env.py: 870]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:21:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15947316  1.0270769   0.08438421] yaw=-123.6deg	[env.py: 1019]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03280565  0.96791015  0.08438421] yaw=-148.3deg	[env.py: 1019]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82566816  0.8953798   0.08438421] yaw=-153.7deg	[env.py: 1019]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:21:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.4ms, total=155.5ms	[env.py: 1075]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.159, 1.027, 0.084)	[env.py: 1079]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -123.6 deg	[env.py: 1082]
+05/10 21:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.769m	[env.py: 1086]
+05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:21:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:21:16 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:21:16 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:21:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:21:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:21:16 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:21:16 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:21:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:21:17 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.343[m] 85.174[deg]	[grasp_sample.py: 539]
+05/10 21:21:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:21:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:21:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:21:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:21:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:21:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:21:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:21:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:21:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:21:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:22:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:22:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:22:39 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:22:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:22:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:22:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:22:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:22:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:22:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:22:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:22:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:22:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:22:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:22:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:22:54 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:22:54 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.233[deg]	[grasp_sample.py: 539]
+05/10 21:22:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:22:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:22:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:23:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:23:03 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:23:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:23:03 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:23:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:23:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:23:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.47s (batch: 4.75s, save: 11.73s)	[pipeline.py: 300]
+05/10 21:23:20 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.74s:
+  episode_total: mean=211.83s, total=211.83s, count=1, min=211830.8ms, max=211830.8ms
+  sensor_polling: mean=527.4ms, total=158.23s, count=300, min=441.6ms, max=1366.6ms
+  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11727.2ms, max=11727.2ms
+  physics_step: mean=24.7ms, total=7.42s, count=300, min=18.2ms, max=94.4ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4745.6ms, max=4745.6ms
+  task_sampling: mean=736.9ms, total=736.9ms, count=1, min=736.9ms, max=736.9ms
+  task_specific_sample: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=655.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:21 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:23:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:23:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:23:21 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:23:21 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:23:21 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:23:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:23:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006979m	[env.py: 870]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:23:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69075632  0.47638615  0.00697917] yaw=168.8deg	[env.py: 1019]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.158266    1.11917447  0.00697917] yaw=-130.4deg	[env.py: 1019]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8029846   0.49049159  0.00697917] yaw=-182.1deg	[env.py: 1019]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:23:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.9ms, total=81.9ms	[env.py: 1075]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.476, 0.007)	[env.py: 1079]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
+05/10 21:23:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m	[env.py: 1086]
+05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:23:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:23:22 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:23:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:23:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:23:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:23:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:23:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:23:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.565[m] 88.105[deg]	[grasp_sample.py: 539]
+05/10 21:23:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:23:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:23:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:49 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:23:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:23:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:23:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:23:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:23:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:23:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:23:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:23:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:52 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.232s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:23:52 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.977[deg]	[grasp_sample.py: 539]
+05/10 21:23:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:23:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:23:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:23:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:23:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:23:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:23:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:23:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:23:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:23:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:24:01 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:24:01 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.351[deg]	[grasp_sample.py: 539]
+05/10 21:24:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:24:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:24:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.36s (batch: 4.75s, save: 8.61s)	[pipeline.py: 300]
+05/10 21:24:02 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:24:03 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
+  episode_total: mean=226.89s, total=226.89s, count=1, min=226887.5ms, max=226887.5ms
+  sensor_polling: mean=536.1ms, total=160.82s, count=300, min=460.2ms, max=865.8ms
+  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8614.8ms, max=8614.8ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=16.3ms, max=83.6ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4747.6ms, max=4747.6ms
+  task_sampling: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
+  task_specific_sample: mean=400.6ms, total=400.6ms, count=1, min=400.6ms, max=400.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=419.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:24:04 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:24:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:24:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:24:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:24:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:24:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:24:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:24:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075062m	[env.py: 870]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:24:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8577659   1.09722795  0.07506166] yaw=-133.8deg	[env.py: 1019]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:24:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.0ms, total=265.0ms	[env.py: 1075]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 1.097, 0.075)	[env.py: 1079]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
+05/10 21:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:24:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:24:05 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:24:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:24:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:24:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:24:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:24:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:24:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:24:05 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:24:05 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:24:05 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:24:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:24:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016479m	[env.py: 870]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:24:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82856008  1.03574903  0.016479  ] yaw=-150.7deg	[env.py: 1019]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02363036  1.31224936  0.016479  ] yaw=-139.2deg	[env.py: 1019]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90614888  0.41199153  0.016479  ] yaw=171.4deg	[env.py: 1019]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:24:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.6ms, total=87.6ms	[env.py: 1075]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.829, 1.036, 0.016)	[env.py: 1079]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg	[env.py: 1082]
+05/10 21:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:24:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:24:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:24:05 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:24:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:24:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:24:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:24:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:24:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:24:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.644[m] 98.074[deg]	[grasp_sample.py: 539]
+05/10 21:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:24:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:24:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:24:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:24:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.576[m] 80.845[deg]	[grasp_sample.py: 539]
+05/10 21:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:24:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:24:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:24:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:24:28 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:24:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:24:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:24:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:24:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:24:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:24:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:24:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.58s (batch: 4.11s, save: 8.47s)	[pipeline.py: 300]
+05/10 21:24:41 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.92s:
+  episode_total: mean=252.54s, total=252.54s, count=1, min=252544.9ms, max=252544.9ms
+  sensor_polling: mean=544.9ms, total=163.46s, count=300, min=465.5ms, max=933.8ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8466.1ms, max=8466.1ms
+  physics_step: mean=25.0ms, total=7.51s, count=300, min=14.1ms, max=117.0ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.7ms, max=4109.7ms
+  task_sampling: mean=920.1ms, total=920.1ms, count=1, min=920.1ms, max=920.1ms
+  task_specific_sample: mean=915.3ms, total=915.3ms, count=1, min=915.3ms, max=915.3ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=627.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:24:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:24:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:24:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:24:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:24:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:24:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:24:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033862m	[env.py: 870]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:24:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82227541  0.0145964   0.03386198] yaw=142.1deg	[env.py: 1019]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02370475  0.15953073  0.03386198] yaw=164.7deg	[env.py: 1019]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9268626   0.21723471  0.03386198] yaw=171.1deg	[env.py: 1019]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:24:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms	[env.py: 1075]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.015, 0.034)	[env.py: 1079]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg	[env.py: 1082]
+05/10 21:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:24:43 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:24:43 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:24:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:24:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:24:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:24:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:24:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.670s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:24:45 INFO: [Worker 0] Feasible grasp found 70 (originally 70): w/ 0.558[m] 88.230[deg]	[grasp_sample.py: 539]
+05/10 21:24:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:24:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:24:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:25:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:25:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:25:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:25:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:25:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:25:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:25:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:25:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:26:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:26:11 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:26:39 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:26:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:26:39 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:26:51 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:26:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:26:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:26:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.92s (batch: 4.37s, save: 8.55s)	[pipeline.py: 300]
+05/10 21:26:53 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s:
+  episode_total: mean=211.31s, total=211.31s, count=1, min=211305.8ms, max=211305.8ms
+  sensor_polling: mean=523.0ms, total=156.91s, count=300, min=445.6ms, max=1065.9ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.9ms, max=8549.9ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=17.9ms, max=101.7ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.9ms, max=4373.9ms
+  task_sampling: mean=384.1ms, total=384.1ms, count=1, min=384.1ms, max=384.1ms
+  task_specific_sample: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=408.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:26:54 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:26:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:26:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:26:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:26:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:26:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:26:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:26:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:26:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:26:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:26:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080919m	[env.py: 870]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:26:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7810963   0.5303907   0.08091874] yaw=-172.9deg	[env.py: 1019]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14179506  1.13817652  0.08091874] yaw=-126.0deg	[env.py: 1019]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:26:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96038461  0.34688931  0.08091874] yaw=163.4deg	[env.py: 1019]
+05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:26:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.1ms	[env.py: 1075]
+05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.781, 0.530, 0.081)	[env.py: 1079]
+05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg	[env.py: 1082]
+05/10 21:26:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.923m	[env.py: 1086]
+05/10 21:26:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:26:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:26:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:26:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:26:55 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:26:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:26:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:26:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:26:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:26:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:26:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.484[m] 92.851[deg]	[grasp_sample.py: 539]
+05/10 21:26:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:26:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:26:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:27:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:27:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:27:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:27:22 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:27:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:27:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:27:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:27:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:27:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.40s (batch: 4.42s, save: 8.99s)	[pipeline.py: 300]
+05/10 21:27:34 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.96s:
+  episode_total: mean=188.01s, total=376.01s, count=2, min=166513.4ms, max=209497.4ms
+  sensor_polling: mean=516.7ms, total=293.98s, count=569, min=427.4ms, max=1005.5ms
+  physics_step: mean=25.1ms, total=14.26s, count=569, min=16.1ms, max=121.8ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8988.1ms, max=8988.1ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4415.3ms, max=4415.3ms
+  task_sampling: mean=477.8ms, total=955.7ms, count=2, min=425.4ms, max=530.2ms
+  task_specific_sample: mean=474.4ms, total=948.8ms, count=2, min=422.2ms, max=526.5ms
+  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.3ms, max=1.4ms
+  mj_forward_sync: mean=414.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:27:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:27:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:27:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:27:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:27:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058430m	[env.py: 870]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1735197   1.05309213  0.05843003] yaw=-130.2deg	[env.py: 1019]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89298718  1.01973276  0.05843003] yaw=-151.6deg	[env.py: 1019]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:27:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.4ms	[env.py: 1075]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.174, 1.053, 0.058)	[env.py: 1079]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg	[env.py: 1082]
+05/10 21:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.778m	[env.py: 1086]
+05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:27:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:27:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:27:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 14.68s (batch: 4.50s, save: 10.18s)	[pipeline.py: 300]
+05/10 21:27:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:27:36 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:27:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:27:36 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:27:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:27:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:27:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:27:37 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s:
+  episode_total: mean=212.32s, total=212.32s, count=1, min=212317.9ms, max=212317.9ms
+  sensor_polling: mean=518.2ms, total=155.47s, count=300, min=435.1ms, max=973.2ms
+  save_trajectories: mean=10.18s, total=10.18s, count=1, min=10178.2ms, max=10178.2ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.6ms, max=106.6ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.0ms, max=4497.0ms
+  task_sampling: mean=414.4ms, total=414.4ms, count=1, min=414.4ms, max=414.4ms
+  task_specific_sample: mean=410.4ms, total=410.4ms, count=1, min=410.4ms, max=410.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=445.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:27:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:27:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.409[m] 96.189[deg]	[grasp_sample.py: 539]
+05/10 21:27:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:27:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:27:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:27:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:27:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:27:39 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:27:39 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:27:39 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:27:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:27:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040113m	[env.py: 870]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:27:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96670327  0.93723545  0.04011328] yaw=-158.9deg	[env.py: 1019]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90440846  0.09259245  0.04011328] yaw=143.5deg	[env.py: 1019]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7936102   0.04918783  0.04011328] yaw=146.2deg	[env.py: 1019]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:27:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.4ms, total=123.4ms	[env.py: 1075]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.937, 0.040)	[env.py: 1079]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg	[env.py: 1082]
+05/10 21:27:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:27:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:27:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:27:39 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:27:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:27:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:27:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:27:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:27:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:27:40 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.458[m] 83.297[deg]	[grasp_sample.py: 539]
+05/10 21:27:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:27:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:27:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:27:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:27:58 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:27:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:27:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:28:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:28:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:28:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:28:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:28:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.73s (batch: 4.08s, save: 8.65s)	[pipeline.py: 300]
+05/10 21:28:11 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
+  episode_total: mean=208.57s, total=208.57s, count=1, min=208566.2ms, max=208566.2ms
+  sensor_polling: mean=532.7ms, total=159.81s, count=300, min=454.9ms, max=1153.9ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8648.7ms, max=8648.7ms
+  physics_step: mean=25.6ms, total=7.67s, count=300, min=16.2ms, max=106.5ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4080.2ms, max=4080.2ms
+  task_sampling: mean=485.6ms, total=485.6ms, count=1, min=485.6ms, max=485.6ms
+  task_specific_sample: mean=481.6ms, total=481.6ms, count=1, min=481.6ms, max=481.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=417.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:28:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:28:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:28:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:28:13 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:28:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:28:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:28:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005746m	[env.py: 870]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:28:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84897735  1.0608889   0.00574605] yaw=-134.6deg	[env.py: 1019]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95961722  0.64166377  0.00574605] yaw=-162.0deg	[env.py: 1019]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01551301  0.96174227  0.00574605] yaw=-138.0deg	[env.py: 1019]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:28:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.4ms	[env.py: 1075]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 1.061, 0.006)	[env.py: 1079]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.6 deg	[env.py: 1082]
+05/10 21:28:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:28:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:28:13 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:28:13 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:28:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:28:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:28:13 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:28:13 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:28:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:28:17 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.603[m] 90.810[deg]	[grasp_sample.py: 539]
+05/10 21:28:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:28:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:28:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:28:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:28:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:28:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:28:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:28:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:28:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:29:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:29:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:29:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:29:51 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:30:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:30:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:30:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:30:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:30:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:30:16 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:30:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:30:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:30:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:30:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:30:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:30:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:30:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:30:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:30:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.183s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:30:23 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:30:23 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]	[grasp_sample.py: 539]
+05/10 21:30:25 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:30:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:30:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:30:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:30:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:30:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:30:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:30:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:30:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:30:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:30:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046440m	[env.py: 870]
+05/10 21:30:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:30:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02673665  1.28532242  0.04644041] yaw=-131.3deg	[env.py: 1019]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85446516  0.88461746  0.04644041] yaw=-154.0deg	[env.py: 1019]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94417356  0.4660807   0.04644041] yaw=176.7deg	[env.py: 1019]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:30:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=265.4ms, total=265.4ms	[env.py: 1075]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.027, 1.285, 0.046)	[env.py: 1079]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg	[env.py: 1082]
+05/10 21:30:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/10 21:30:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:30:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:30:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:30:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:30:28 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:30:28 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:30:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:30:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:30:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:30:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:30:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:30:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:30:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 16.16s (batch: 5.20s, save: 10.96s)	[pipeline.py: 300]
+05/10 21:30:32 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.46s:
+  episode_total: mean=217.97s, total=217.97s, count=1, min=217965.1ms, max=217965.1ms
+  sensor_polling: mean=532.1ms, total=159.62s, count=300, min=448.8ms, max=919.9ms
+  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10963.8ms, max=10963.8ms
+  physics_step: mean=27.8ms, total=8.35s, count=300, min=17.9ms, max=105.7ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5198.1ms, max=5198.1ms
+  task_sampling: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
+  task_specific_sample: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=423.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:30:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:30:32 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/10 21:30:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:30:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:30:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:30:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:30:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:30:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:30:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030636m	[env.py: 870]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:30:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:30:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:30:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:30:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:30:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:30:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:30:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:30:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038485m	[env.py: 870]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:30:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81004362  0.2285971   0.0306361 ] yaw=174.9deg	[env.py: 1019]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8687516  0.3844181  0.0306361] yaw=176.9deg	[env.py: 1019]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78449667  0.8780896   0.0306361 ] yaw=-156.3deg	[env.py: 1019]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:30:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.8ms	[env.py: 1075]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.229, 0.031)	[env.py: 1079]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg	[env.py: 1082]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96042765  1.03971419  0.03848463] yaw=-152.7deg	[env.py: 1019]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00166828  1.14633781  0.03848463] yaw=-127.7deg	[env.py: 1019]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64956227  0.33866036  0.03848463] yaw=183.0deg	[env.py: 1019]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:30:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=438.8ms, total=438.8ms	[env.py: 1075]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.960, 1.040, 0.038)	[env.py: 1079]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg	[env.py: 1082]
+05/10 21:30:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:30:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:30:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:30:35 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:30:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:30:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:30:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:30:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:30:35 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:30:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:30:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:30:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:30:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:30:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.514[m] 95.872[deg]	[grasp_sample.py: 539]
+05/10 21:30:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:30:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:30:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:30:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 4.301s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:30:39 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.507[m] 90.265[deg]	[grasp_sample.py: 539]
+05/10 21:30:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:30:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:30:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:30:52 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:30:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:30:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:31:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:31:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:31:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.56s (batch: 5.07s, save: 8.50s)	[pipeline.py: 300]
+05/10 21:31:06 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.46s:
+  episode_total: mean=206.78s, total=206.78s, count=1, min=206777.6ms, max=206777.6ms
+  sensor_polling: mean=521.6ms, total=156.47s, count=300, min=440.9ms, max=947.0ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8496.9ms, max=8496.9ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=15.9ms, max=78.0ms
+  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5067.8ms, max=5067.8ms
+  task_sampling: mean=463.2ms, total=463.2ms, count=1, min=463.2ms, max=463.2ms
+  task_specific_sample: mean=456.1ms, total=456.1ms, count=1, min=456.1ms, max=456.1ms
+  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  mj_forward_sync: mean=693.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:31:07 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/10 21:31:07 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/10 21:31:07 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/10 21:31:07 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5644.10s
+  House averages:
+  episode_total: mean=169.74s, total=3055.39s, count=18, min=424.0ms, max=235744.9ms
+  sensor_polling: mean=519.1ms, total=2263.39s, count=4360, min=427.9ms, max=1281.9ms
+  save_trajectories: mean=9.71s, total=126.22s, count=13, min=8496.9ms, max=11919.7ms
+  physics_step: mean=25.6ms, total=111.70s, count=4360, min=14.7ms, max=126.1ms
+  save_batch_prep: mean=4.58s, total=59.50s, count=13, min=4165.0ms, max=5403.2ms
+  task_sampling: mean=680.7ms, total=11.57s, count=17, min=350.0ms, max=3381.7ms
+  task_specific_sample: mean=501.6ms, total=9.03s, count=18, min=343.5ms, max=865.7ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
+  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
+  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
+  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  scene_randomize: mean=2.7ms, total=48.0ms, count=18, min=1.2ms, max=5.4ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  mj_forward_sync: mean=534.8us, total=9.6ms, count=18, min=0.4ms, max=1.2ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 21:31:07 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 21:31:07 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5644.10s
+  Worker averages:
+  episode_total: mean=169.74s, total=3055.39s, count=18, min=424.0ms, max=235744.9ms
+  sensor_polling: mean=519.1ms, total=2263.39s, count=4360, min=427.9ms, max=1281.9ms
+  save_trajectories: mean=9.71s, total=126.22s, count=13, min=8496.9ms, max=11919.7ms
+  physics_step: mean=25.6ms, total=111.70s, count=4360, min=14.7ms, max=126.1ms
+  save_batch_prep: mean=4.58s, total=59.50s, count=13, min=4165.0ms, max=5403.2ms
+  task_sampling: mean=680.7ms, total=11.57s, count=17, min=350.0ms, max=3381.7ms
+  task_specific_sample: mean=501.6ms, total=9.03s, count=18, min=343.5ms, max=865.7ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
+  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
+  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
+  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  scene_randomize: mean=2.7ms, total=48.0ms, count=18, min=1.2ms, max=5.4ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  mj_forward_sync: mean=534.8us, total=9.6ms, count=18, min=0.4ms, max=1.2ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 21:31:08 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:31:10 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 21:31:10 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/10 21:31:10 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/10 21:31:29 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:31:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:31:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:31:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:31:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:31:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:31:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:31:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:31:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:31:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.01s (batch: 4.04s, save: 7.97s)	[pipeline.py: 300]
+05/10 21:31:41 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.40s:
+  episode_total: mean=208.25s, total=208.25s, count=1, min=208251.4ms, max=208251.4ms
+  sensor_polling: mean=530.5ms, total=159.14s, count=300, min=447.4ms, max=1022.5ms
+  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7970.2ms, max=7970.2ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=16.2ms, max=92.2ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4040.6ms, max=4040.6ms
+  task_sampling: mean=401.1ms, total=401.1ms, count=1, min=401.1ms, max=401.1ms
+  task_specific_sample: mean=397.2ms, total=397.2ms, count=1, min=397.2ms, max=397.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=451.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:31:43 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/10 21:31:43 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/10 21:31:43 INFO: [Worker 0] Worker 0 completed house 1: 12/13 successful episodes	[pipeline.py: 1323]
+05/10 21:31:43 INFO: [Worker 0] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5650.04s
+  House averages:
+  episode_total: mean=171.75s, total=3091.50s, count=18, min=2323.8ms, max=257855.6ms
+  sensor_polling: mean=524.9ms, total=2255.32s, count=4297, min=434.9ms, max=1153.9ms
+  save_trajectories: mean=9.38s, total=112.56s, count=12, min=7970.2ms, max=11679.5ms
+  physics_step: mean=25.7ms, total=110.31s, count=4297, min=14.1ms, max=127.5ms
+  save_batch_prep: mean=4.38s, total=52.60s, count=12, min=4040.6ms, max=5105.8ms
+  task_sampling: mean=670.4ms, total=12.07s, count=18, min=401.1ms, max=3341.8ms
+  task_specific_sample: mean=512.5ms, total=9.23s, count=18, min=397.2ms, max=915.3ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
+  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
+  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
+  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
+  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
+  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.2ms, max=3.4ms
+  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  mj_forward_sync: mean=499.7us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=21.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 21:31:43 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 21:31:43 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5650.04s
+  Worker averages:
+  episode_total: mean=171.75s, total=3091.50s, count=18, min=2323.8ms, max=257855.6ms
+  sensor_polling: mean=524.9ms, total=2255.32s, count=4297, min=434.9ms, max=1153.9ms
+  save_trajectories: mean=9.38s, total=112.56s, count=12, min=7970.2ms, max=11679.5ms
+  physics_step: mean=25.7ms, total=110.31s, count=4297, min=14.1ms, max=127.5ms
+  save_batch_prep: mean=4.38s, total=52.60s, count=12, min=4040.6ms, max=5105.8ms
+  task_sampling: mean=670.4ms, total=12.07s, count=18, min=401.1ms, max=3341.8ms
+  task_specific_sample: mean=512.5ms, total=9.23s, count=18, min=397.2ms, max=915.3ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
+  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
+  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
+  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
+  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
+  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.2ms, max=3.4ms
+  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  mj_forward_sync: mean=499.7us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=21.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 21:31:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:31:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:31:45 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 21:31:45 INFO: Success count: 12, Total count: 13	[pipeline.py: 1491]
+05/10 21:31:45 INFO: Success rate: 92.31%	[pipeline.py: 1492]
+05/10 21:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:33:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:33:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:33:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:33:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:33:16 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.457s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:33:16 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.742[deg]	[grasp_sample.py: 539]
+05/10 21:33:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:33:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:33:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:33:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:33:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:33:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:33:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:33:18 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:33:18 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.742[deg]	[grasp_sample.py: 539]
+05/10 21:33:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:33:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:33:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:33:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:33:19 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:33:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:33:29 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:33:44 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:33:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:33:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:33:53 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:33:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:33:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:33:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:33:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:33:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 12.18s (batch: 3.74s, save: 8.44s)	[pipeline.py: 300]
+05/10 21:33:56 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.86s:
+  episode_total: mean=125.61s, total=376.84s, count=3, min=4892.0ms, max=202260.0ms
+  sensor_polling: mean=503.3ms, total=286.38s, count=569, min=429.8ms, max=1206.2ms
+  physics_step: mean=24.5ms, total=13.93s, count=569, min=15.8ms, max=101.2ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8439.5ms, max=8439.5ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3744.9ms, max=3744.9ms
+  task_sampling: mean=618.5ms, total=1.86s, count=3, min=535.3ms, max=776.0ms
+  task_specific_sample: mean=614.4ms, total=1.84s, count=3, min=531.1ms, max=771.6ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.6ms, max=2.8ms
+  mj_forward_sync: mean=551.8us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:33:58 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/10 21:33:58 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/10 21:33:58 INFO: [Worker 0] Worker 0 completed house 1: 9/10 successful episodes	[pipeline.py: 1323]
+05/10 21:33:58 INFO: [Worker 0] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=5960.45s
+  House averages:
+  episode_total: mean=179.20s, total=3225.56s, count=18, min=4892.0ms, max=243414.3ms
+  sensor_polling: mean=517.6ms, total=2460.83s, count=4754, min=427.4ms, max=1206.2ms
+  physics_step: mean=25.4ms, total=120.74s, count=4754, min=14.5ms, max=121.8ms
+  save_trajectories: mean=9.53s, total=85.81s, count=9, min=8439.5ms, max=11523.4ms
+  save_batch_prep: mean=4.40s, total=39.59s, count=9, min=3744.9ms, max=4821.5ms
+  task_sampling: mean=676.1ms, total=12.17s, count=18, min=406.4ms, max=3284.8ms
+  task_specific_sample: mean=516.5ms, total=9.30s, count=18, min=402.6ms, max=771.6ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
+  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
+  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
+  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
+  mj_forward_sync: mean=499.5us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 21:33:58 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 21:33:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5960.45s
+  Worker averages:
+  episode_total: mean=179.20s, total=3225.56s, count=18, min=4892.0ms, max=243414.3ms
+  sensor_polling: mean=517.6ms, total=2460.83s, count=4754, min=427.4ms, max=1206.2ms
+  physics_step: mean=25.4ms, total=120.74s, count=4754, min=14.5ms, max=121.8ms
+  save_trajectories: mean=9.53s, total=85.81s, count=9, min=8439.5ms, max=11523.4ms
+  save_batch_prep: mean=4.40s, total=39.59s, count=9, min=3744.9ms, max=4821.5ms
+  task_sampling: mean=676.1ms, total=12.17s, count=18, min=406.4ms, max=3284.8ms
+  task_specific_sample: mean=516.5ms, total=9.30s, count=18, min=402.6ms, max=771.6ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
+  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
+  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
+  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
+  mj_forward_sync: mean=499.5us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 21:34:01 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 21:34:01 INFO: Success count: 9, Total count: 10	[pipeline.py: 1491]
+05/10 21:34:01 INFO: Success rate: 90.00%	[pipeline.py: 1492]
+05/10 21:34:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:34:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:34:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.85s (batch: 4.08s, save: 9.77s)	[pipeline.py: 300]
+05/10 21:34:08 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.55s:
+  episode_total: mean=213.57s, total=213.57s, count=1, min=213573.2ms, max=213573.2ms
+  sensor_polling: mean=497.9ms, total=149.38s, count=300, min=438.9ms, max=928.9ms
+  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9770.7ms, max=9770.7ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=18.2ms, max=52.1ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4082.0ms, max=4082.0ms
+  task_sampling: mean=552.0ms, total=552.0ms, count=1, min=552.0ms, max=552.0ms
+  task_specific_sample: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:34:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:34:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:34:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:34:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:34:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:34:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:34:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062155m	[env.py: 870]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:34:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85319739  0.91691337  0.06215483] yaw=-152.3deg	[env.py: 1019]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79724583  0.91953941  0.06215483] yaw=-152.5deg	[env.py: 1019]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89177735  0.29904419  0.06215483] yaw=158.3deg	[env.py: 1019]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:34:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.2ms, total=238.2ms	[env.py: 1075]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.917, 0.062)	[env.py: 1079]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
+05/10 21:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:34:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:34:10 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:34:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:34:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:34:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:34:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:34:11 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:34:11 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.520[m] 86.134[deg]	[grasp_sample.py: 539]
+05/10 21:34:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:34:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:34:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:34:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:35:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:35:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:36:40 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:37:02 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_008	[pipeline.py: 1174]
+05/10 21:37:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:37:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:37:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:37:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008	[save_utils.py: 785]
+05/10 21:37:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_008 in 13.70s (batch: 3.82s, save: 9.88s)	[pipeline.py: 300]
+05/10 21:37:16 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.55s:
+  episode_total: mean=187.16s, total=187.16s, count=1, min=187155.3ms, max=187155.3ms
+  sensor_polling: mean=464.3ms, total=139.29s, count=300, min=405.8ms, max=696.1ms
+  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9879.9ms, max=9879.9ms
+  physics_step: mean=21.7ms, total=6.50s, count=300, min=14.4ms, max=77.8ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3821.8ms, max=3821.8ms
+  task_sampling: mean=546.4ms, total=546.4ms, count=1, min=546.4ms, max=546.4ms
+  task_specific_sample: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=394.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:37:18 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/10 21:37:18 WARNING: [Worker 0] No trajectory data to save for chunk_008	[pipeline.py: 234]
+05/10 21:37:18 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/10 21:37:18 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=6320.37s
+  House averages:
+  episode_total: mean=190.39s, total=3427.04s, count=18, min=4921.5ms, max=232703.9ms
+  sensor_polling: mean=511.3ms, total=2550.99s, count=4989, min=405.8ms, max=1366.6ms
+  save_trajectories: mean=9.96s, total=129.51s, count=13, min=8549.9ms, max=11727.2ms
+  physics_step: mean=25.4ms, total=126.52s, count=4989, min=14.4ms, max=129.1ms
+  save_batch_prep: mean=4.45s, total=57.88s, count=13, min=3821.8ms, max=5198.1ms
+  task_sampling: mean=692.5ms, total=12.47s, count=18, min=380.4ms, max=3118.6ms
+  task_specific_sample: mean=540.2ms, total=9.72s, count=18, min=376.7ms, max=776.0ms
+  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
+  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
+  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.5ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  mj_forward_sync: mean=486.5us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/10 21:37:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/10 21:37:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=6320.37s
+  Worker averages:
+  episode_total: mean=190.39s, total=3427.04s, count=18, min=4921.5ms, max=232703.9ms
+  sensor_polling: mean=511.3ms, total=2550.99s, count=4989, min=405.8ms, max=1366.6ms
+  save_trajectories: mean=9.96s, total=129.51s, count=13, min=8549.9ms, max=11727.2ms
+  physics_step: mean=25.4ms, total=126.52s, count=4989, min=14.4ms, max=129.1ms
+  save_batch_prep: mean=4.45s, total=57.88s, count=13, min=3821.8ms, max=5198.1ms
+  task_sampling: mean=692.5ms, total=12.47s, count=18, min=380.4ms, max=3118.6ms
+  task_specific_sample: mean=540.2ms, total=9.72s, count=18, min=376.7ms, max=776.0ms
+  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
+  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
+  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.5ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  mj_forward_sync: mean=486.5us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/10 21:37:20 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/10 21:37:20 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/10 21:37:20 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/fridge_7/chunk_008/shard_1_of_4.log b/fridge_7/chunk_008/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..e33bfd3e20be735871bf99777f32d56ddc751a6c
--- /dev/null
+++ b/fridge_7/chunk_008/shard_1_of_4.log
@@ -0,0 +1,1760 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_008
+  shard=1/4  seed=20801  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:39:39 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 20:39:39 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 20:39:39 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_008'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 20:39:39 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7bb06d224a90>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20801,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 20:39:39 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 20:39:39 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 135997673669328 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 135997673669328 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 135997673669328 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 135997673669328 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 135997675584144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135997675584144 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135997675584464 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135997675584464 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135997675584464 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135997675584464 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135997675584144 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135997675584144 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135997673708112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135997673708112 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 135997673713104 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135997673713104 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 135997673713104 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 135997673713104 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 135997673708112 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 135997673708112 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 20:39:40 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 6423f059be20 at 0x7bb06d798f50>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6423f05c99c0 at 0x7bb06d58a410>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 6423f05c99c0 at 0x7bb06d725f90>
+[05/10 20:39:42 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:39:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 20:39:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:39:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:39:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010633m
+[05/10 20:39:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:39:42 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 20:39:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.64066221  0.3387437   0.01063263] yaw=173.5deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87704913  0.92342589  0.01063263] yaw=-148.1deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.80678526  0.69997008  0.01063263] yaw=-165.4deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:39:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:39:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=23.5ms, retries=127.7ms, total=151.2ms
+[05/10 20:39:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.641, 0.339, 0.011)
+[05/10 20:39:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.5 deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.071m
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:39:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:39:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 20:40:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.661s
+[05/10 20:40:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:40:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:40:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
+[05/10 20:40:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.676s, found feasible grasp: True
+[05/10 20:40:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.589[m] 79.328[deg]
+[05/10 20:40:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:41:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:41:25 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:41:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:42:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 20:43:18 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:43:18 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 20:43:18 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:43:31 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 20:43:31 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:43:31 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.15s (batch: 4.21s, save: 8.94s)
+[05/10 20:43:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.12s:
+  episode_total: mean=232.70s, total=232.70s, count=1, min=232703.9ms, max=232703.9ms
+  sensor_polling: mean=517.3ms, total=155.18s, count=300, min=448.2ms, max=747.3ms
+  save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.0ms, max=8940.0ms
+  physics_step: mean=27.0ms, total=8.10s, count=300, min=17.4ms, max=73.2ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4210.0ms, max=4210.0ms
+  task_sampling: mean=3.12s, total=3.12s, count=1, min=3118.6ms, max=3118.6ms
+  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
+  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
+  task_specific_sample: mean=445.1ms, total=445.1ms, count=1, min=445.1ms, max=445.1ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
+  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=617.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=26.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:43:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:43:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:43:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
+[05/10 20:43:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:43:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:43:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.067681m
+[05/10 20:43:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:43:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:43:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76127927  0.12845864  0.06768143] yaw=152.7deg
+[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 93.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.17248088  1.07968041  0.06768143] yaw=-139.1deg
+[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:43:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:43:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms
+[05/10 20:43:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.761, 0.128, 0.068)
+[05/10 20:43:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.7 deg
+[05/10 20:43:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.005m
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:43:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:43:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 20:43:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 20:43:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:43:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:43:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 20:43:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.702s, found feasible grasp: True
+[05/10 20:43:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.591[m] 98.504[deg]
+[05/10 20:43:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:44:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:44:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:46:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:46:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:46:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 20:46:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:47:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:47:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:47:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.37s (batch: 4.38s, save: 10.99s)
+[05/10 20:47:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.47s:
+  episode_total: mean=210.65s, total=210.65s, count=1, min=210645.1ms, max=210645.1ms
+  sensor_polling: mean=518.2ms, total=155.46s, count=300, min=446.9ms, max=833.7ms
+  save_trajectories: mean=10.99s, total=10.99s, count=1, min=10985.4ms, max=10985.4ms
+  physics_step: mean=26.7ms, total=8.01s, count=300, min=15.3ms, max=72.9ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4380.5ms, max=4380.5ms
+  task_sampling: mean=466.5ms, total=466.5ms, count=1, min=466.5ms, max=466.5ms
+  task_specific_sample: mean=462.7ms, total=462.7ms, count=1, min=462.7ms, max=462.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=422.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:47:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:47:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:47:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:47:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:47:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:47:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:47:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:47:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:47:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:47:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:47:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 20:47:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:47:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:47:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052877m
+[05/10 20:47:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:47:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:47:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:47:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84469801  1.10050357  0.05287708] yaw=-142.0deg
+[05/10 20:47:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:47:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.13056681  1.19432385  0.05287708] yaw=-136.2deg
+[05/10 20:47:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:47:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:47:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=336.3ms, total=336.3ms
+[05/10 20:47:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.845, 1.101, 0.053)
+[05/10 20:47:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.0 deg
+[05/10 20:47:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
+[05/10 20:47:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:47:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:47:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:47:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:47:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:47:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 20:47:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.093s
+[05/10 20:47:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:47:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:47:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 20:47:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.637s, found feasible grasp: True
+[05/10 20:47:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.635[m] 84.164[deg]
+[05/10 20:47:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:47:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:48:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:48:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:49:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:49:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:49:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:49:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:49:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:49:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:49:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:50:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:50:02 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:50:02 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:50:02 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:50:02 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:50:02 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 76 non-colliding grasps
+[05/10 20:50:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.695s, found feasible grasp: True
+[05/10 20:50:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.598[deg]
+[05/10 20:50:08 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:50:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:50:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:50:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:50:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:50:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:50:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:50:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:50:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:50:10 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:50:10 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:50:10 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
+[05/10 20:50:10 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:50:10 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:50:10 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003464m
+[05/10 20:50:10 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:50:10 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:50:10 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:50:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:50:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:50:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01364107  0.96161775  0.00346449] yaw=-135.9deg
+[05/10 20:50:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:50:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88882081  0.67914259  0.00346449] yaw=-164.8deg
+[05/10 20:50:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:50:10 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:50:10 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.87545053  0.78924939  0.00346449] yaw=-168.7deg
+[05/10 20:50:10 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:50:10 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:50:10 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.5ms, total=165.5ms
+[05/10 20:50:10 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.014, 0.962, 0.003)
+[05/10 20:50:10 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg
+[05/10 20:50:10 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.839m
+[05/10 20:50:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:50:10 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:50:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:50:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:50:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:50:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 20:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.088s
+[05/10 20:50:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:50:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:50:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 20:50:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True
+[05/10 20:50:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.380[m] 87.926[deg]
+[05/10 20:50:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:50:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:50:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:50:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:51:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:51:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:52:53 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:53:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:53:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 20:53:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 299 timesteps
+[05/10 20:53:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:53:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:53:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.00s (batch: 4.61s, save: 9.39s)
+[05/10 20:53:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.05s:
+  episode_total: mean=193.63s, total=387.25s, count=2, min=181731.5ms, max=205519.8ms
+  sensor_polling: mean=506.9ms, total=302.62s, count=597, min=434.0ms, max=848.4ms
+  physics_step: mean=24.9ms, total=14.89s, count=597, min=16.3ms, max=75.8ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9388.2ms, max=9388.2ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4607.7ms, max=4607.7ms
+  task_sampling: mean=525.9ms, total=1.05s, count=2, min=425.3ms, max=626.6ms
+  task_specific_sample: mean=522.3ms, total=1.04s, count=2, min=421.7ms, max=622.9ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.6ms, max=2.4ms
+  mj_forward_sync: mean=473.2us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:53:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:53:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:53:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:53:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:53:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:53:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:53:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:53:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:53:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:53:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:53:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 20:53:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:53:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:53:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011572m
+[05/10 20:53:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:53:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:53:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:53:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88252104  0.46742588  0.01157206] yaw=180.2deg
+[05/10 20:53:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:53:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.87109017  0.94259276  0.01157206] yaw=-159.4deg
+[05/10 20:53:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:53:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83767209  0.4933306   0.01157206] yaw=-174.6deg
+[05/10 20:53:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:53:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:53:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.1ms, total=99.1ms
+[05/10 20:53:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.883, 0.467, 0.012)
+[05/10 20:53:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.2 deg
+[05/10 20:53:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.820m
+[05/10 20:53:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:53:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:53:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:53:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:53:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:53:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 20:53:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 20:53:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:53:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:53:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 20:53:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True
+[05/10 20:53:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.353[m] 83.772[deg]
+[05/10 20:53:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:53:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:53:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:54:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:54:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:56:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:56:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:56:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 20:56:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 292 timesteps
+[05/10 20:56:59 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:56:59 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:56:59 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.55s (batch: 4.45s, save: 11.10s)
+[05/10 20:57:00 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.38s:
+  episode_total: mean=203.31s, total=203.31s, count=1, min=203308.6ms, max=203308.6ms
+  sensor_polling: mean=509.6ms, total=148.30s, count=291, min=440.6ms, max=879.7ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11103.5ms, max=11103.5ms
+  physics_step: mean=27.4ms, total=7.98s, count=291, min=18.5ms, max=90.9ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4450.5ms, max=4450.5ms
+  task_sampling: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms
+  task_specific_sample: mean=376.7ms, total=376.7ms, count=1, min=376.7ms, max=376.7ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=411.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=22.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:57:02 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:57:02 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:57:02 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:57:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:57:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:57:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:57:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:57:02 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:57:02 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:57:02 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:57:02 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 20:57:02 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:57:02 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:57:02 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014054m
+[05/10 20:57:02 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:57:02 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:57:02 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:57:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:57:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.68662972  0.69979202  0.01405362] yaw=-157.5deg
+[05/10 20:57:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:57:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:57:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92172603  0.53419426  0.01405362] yaw=-167.7deg
+[05/10 20:57:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:57:02 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:57:02 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89096877  0.24415586  0.01405362] yaw=171.3deg
+[05/10 20:57:02 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:57:02 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:57:02 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.2ms
+[05/10 20:57:02 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.687, 0.700, 0.014)
+[05/10 20:57:02 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.5 deg
+[05/10 20:57:02 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.039m
+[05/10 20:57:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:57:02 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:57:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:57:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:57:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:57:02 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 20:57:03 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/10 20:57:03 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:57:03 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:57:03 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps
+[05/10 20:57:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.283s, found feasible grasp: True
+[05/10 20:57:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.647[m] 98.468[deg]
+[05/10 20:57:04 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:57:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:58:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:59:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:00:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:00:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:00:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:00:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:00:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:00:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.70s (batch: 4.25s, save: 9.44s)
+[05/10 21:00:30 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
+  episode_total: mean=208.07s, total=208.07s, count=1, min=208071.2ms, max=208071.2ms
+  sensor_polling: mean=511.8ms, total=153.53s, count=300, min=442.5ms, max=761.9ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9443.4ms, max=9443.4ms
+  physics_step: mean=24.4ms, total=7.33s, count=300, min=18.4ms, max=117.6ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4254.3ms, max=4254.3ms
+  task_sampling: mean=591.1ms, total=591.1ms, count=1, min=591.1ms, max=591.1ms
+  task_specific_sample: mean=586.6ms, total=586.6ms, count=1, min=586.6ms, max=586.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=541.6us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=27.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:00:32 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:00:32 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:00:32 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:00:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:00:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:00:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:00:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:00:32 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:00:32 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:00:32 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:00:32 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
+[05/10 21:00:32 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:00:32 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:00:32 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004523m
+[05/10 21:00:32 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:00:32 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:00:32 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 104.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 151.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:00:32 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.0550315   1.1760481   0.00452296] yaw=-138.3deg
+[05/10 21:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90822355  0.73349082  0.00452296] yaw=-155.7deg
+[05/10 21:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:00:32 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.97950935  0.80663366  0.00452296] yaw=-164.8deg
+[05/10 21:00:32 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:00:32 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:00:32 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.5ms, total=218.5ms
+[05/10 21:00:32 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.055, 1.176, 0.005)
+[05/10 21:00:32 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.3 deg
+[05/10 21:00:32 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.949m
+[05/10 21:00:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:00:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:00:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:00:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:00:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:00:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 21:00:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
+[05/10 21:00:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:00:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:00:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:00:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.545s, found feasible grasp: True
+[05/10 21:00:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.502[m] 83.955[deg]
+[05/10 21:00:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:00:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:00:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:01:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:01:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:03:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:03:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:03:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:03:08 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:03:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:03:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:03:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 84 non-colliding grasps
+[05/10 21:03:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 1.712s, found feasible grasp: True
+[05/10 21:03:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 160 (originally 45): w/ 0.154[m] 1.185[deg]
+[05/10 21:03:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:03:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:03:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:03:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:03:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:03:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:03:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:03:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:03:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:03:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:03:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:03:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
+[05/10 21:03:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:03:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:03:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048756m
+[05/10 21:03:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:03:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:03:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:03:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:03:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 111.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:03:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.07751986  1.20845387  0.04875569] yaw=-137.3deg
+[05/10 21:03:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:03:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94549433  0.83285474  0.04875569] yaw=-162.9deg
+[05/10 21:03:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:03:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 98.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:03:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.83567939  0.55893469  0.04875569] yaw=-170.2deg
+[05/10 21:03:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:03:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:03:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=309.1ms, total=309.2ms
+[05/10 21:03:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.078, 1.208, 0.049)
+[05/10 21:03:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -137.3 deg
+[05/10 21:03:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.958m
+[05/10 21:03:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:03:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:03:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:03:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:03:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:03:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 21:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/10 21:03:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:03:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:03:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 21:03:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.633s, found feasible grasp: True
+[05/10 21:03:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.519[m] 84.761[deg]
+[05/10 21:03:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:03:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:03:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:04:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:04:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:05:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:05:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:05:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:05:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:05:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:05:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:05:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:05:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:05:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:05:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.098s, found 76 non-colliding grasps
+[05/10 21:05:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.615s, found feasible grasp: True
+[05/10 21:05:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.114[m] 2.277[deg]
+[05/10 21:05:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:05:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:05:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:05:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:05:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:06:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:06:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:06:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:06:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:06:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:06:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:06:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 21:06:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:06:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:06:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 78 non-colliding grasps
+[05/10 21:06:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.805s, found feasible grasp: False
+[05/10 21:06:21 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 21:06:23 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:06:23 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:06:23 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:06:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:06:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:06:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:06:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:06:23 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:06:23 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:06:23 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:06:23 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
+[05/10 21:06:23 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:06:23 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:06:23 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046869m
+[05/10 21:06:23 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:06:23 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:06:23 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:06:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.02601262  1.18533956  0.04686902] yaw=-143.7deg
+[05/10 21:06:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:06:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:06:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:06:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:06:23 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:06:23 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.98385857  1.09290373  0.04686902] yaw=-134.1deg
+[05/10 21:06:23 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:06:23 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:06:23 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.5ms, total=239.5ms
+[05/10 21:06:23 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.026, 1.185, 0.047)
+[05/10 21:06:23 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.7 deg
+[05/10 21:06:23 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
+[05/10 21:06:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:06:23 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:06:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:06:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:06:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:06:24 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 21:06:24 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
+[05/10 21:06:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:06:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:06:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 21:06:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.645s, found feasible grasp: True
+[05/10 21:06:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.624[m] 81.721[deg]
+[05/10 21:06:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:07:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:07:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:08:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:08:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:08:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:08:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:09:00 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:09:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:09:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:09:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps
+[05/10 21:09:03 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 3.677s, found feasible grasp: False
+[05/10 21:09:03 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 21:09:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:09:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:09:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:09:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:09:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:09:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:09:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:09:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:09:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:09:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:09:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/10 21:09:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:09:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:09:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097057m
+[05/10 21:09:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:09:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:09:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 94.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.06497662  1.15717555  0.09705713] yaw=-127.2deg
+[05/10 21:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6871944   0.12511657  0.09705713] yaw=156.5deg
+[05/10 21:09:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:09:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:09:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=454.9ms, total=455.0ms
+[05/10 21:09:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.065, 1.157, 0.097)
+[05/10 21:09:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -127.2 deg
+[05/10 21:09:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.928m
+[05/10 21:09:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:09:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:09:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:09:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:09:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:09:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 21:09:06 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.058s
+[05/10 21:09:06 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:09:06 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:09:06 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 21:09:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.997s, found feasible grasp: True
+[05/10 21:09:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.568[m] 92.164[deg]
+[05/10 21:09:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:09:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:09:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:09:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:09:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:09:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:09:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:09:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:09:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:09:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:09:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:09:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)
+[05/10 21:09:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:09:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:09:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021254m
+[05/10 21:09:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:09:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:09:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84313615  0.95330353  0.02125394] yaw=-142.2deg
+[05/10 21:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02021785  1.06401111  0.02125394] yaw=-139.0deg
+[05/10 21:09:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:09:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:09:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.8ms, total=214.9ms
+[05/10 21:09:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.953, 0.021)
+[05/10 21:09:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg
+[05/10 21:09:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.980m
+[05/10 21:09:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:09:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:09:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:09:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:09:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:09:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 21:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/10 21:09:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:09:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:09:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 21:09:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 6.002s, found feasible grasp: True
+[05/10 21:09:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.572[m] 92.767[deg]
+[05/10 21:09:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:09:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:10:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:10:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:10:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 21:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:10:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:10:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:10:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 84 non-colliding grasps
+[05/10 21:10:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 84 grasps in 0.486s, found feasible grasp: True
+[05/10 21:10:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 208 (originally 93): w/ 0.118[m] 0.972[deg]
+[05/10 21:10:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:11:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:11:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:12:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:12:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:12:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:12:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:12:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:12:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:12:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.44s (batch: 4.18s, save: 9.26s)
+[05/10 21:12:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=2.93s:
+  episode_total: mean=144.44s, total=722.19s, count=5, min=4921.5ms, max=209105.0ms
+  sensor_polling: mean=511.5ms, total=563.20s, count=1101, min=425.5ms, max=1050.4ms
+  physics_step: mean=25.0ms, total=27.53s, count=1101, min=15.2ms, max=101.5ms
+  save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.7ms, max=9263.7ms
+  save_batch_prep: mean=4.18s, total=4.18s, count=1, min=4180.4ms, max=4180.4ms
+  task_sampling: mean=586.8ms, total=2.93s, count=5, min=505.4ms, max=759.0ms
+  task_specific_sample: mean=583.0ms, total=2.92s, count=5, min=500.7ms, max=755.5ms
+  scene_randomize: mean=1.7ms, total=8.6ms, count=5, min=1.2ms, max=3.2ms
+  mj_forward_sync: mean=470.8us, total=2.4ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms
+[05/10 21:12:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:12:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:12:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:12:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:12:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:12:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:12:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:12:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:12:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:12:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:12:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)
+[05/10 21:12:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:12:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:12:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060916m
+[05/10 21:12:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:12:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:12:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:12:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:12:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 98.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:12:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 104.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:12:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:12:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.67948828  0.25735025  0.06091564] yaw=168.2deg
+[05/10 21:12:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:12:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.79575485  0.82903226  0.06091564] yaw=-150.2deg
+[05/10 21:12:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:12:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:12:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=418.5ms, total=418.5ms
+[05/10 21:12:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.257, 0.061)
+[05/10 21:12:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.2 deg
+[05/10 21:12:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.047m
+[05/10 21:12:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:12:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:12:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:12:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:12:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:12:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 21:12:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.138s
+[05/10 21:12:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:12:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:12:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 21:12:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.672s, found feasible grasp: True
+[05/10 21:12:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.638[m] 95.886[deg]
+[05/10 21:12:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:12:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:14:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:14:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:15:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:16:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:16:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:16:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:16:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:16:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:16:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.34s (batch: 5.08s, save: 10.26s)
+[05/10 21:16:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.78s:
+  episode_total: mean=212.63s, total=212.63s, count=1, min=212633.3ms, max=212633.3ms
+  sensor_polling: mean=517.2ms, total=155.16s, count=300, min=432.4ms, max=909.4ms
+  save_trajectories: mean=10.26s, total=10.26s, count=1, min=10259.0ms, max=10259.0ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.5ms, max=88.0ms
+  save_batch_prep: mean=5.08s, total=5.08s, count=1, min=5082.9ms, max=5082.9ms
+  task_sampling: mean=780.7ms, total=780.7ms, count=1, min=780.7ms, max=780.7ms
+  task_specific_sample: mean=776.0ms, total=776.0ms, count=1, min=776.0ms, max=776.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=526.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:16:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:16:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:16:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:16:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:16:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:16:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:16:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:16:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:16:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:16:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:16:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
+[05/10 21:16:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:16:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:16:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004860m
+[05/10 21:16:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:16:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:16:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:16:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.6516722   0.61759956  0.00485972] yaw=-175.2deg
+[05/10 21:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9080335   0.13515699  0.00485972] yaw=156.3deg
+[05/10 21:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:16:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.81337929  0.13549459  0.00485972] yaw=154.8deg
+[05/10 21:16:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:16:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:16:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=115.3ms, total=115.3ms
+[05/10 21:16:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.652, 0.618, 0.005)
+[05/10 21:16:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.2 deg
+[05/10 21:16:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.059m
+[05/10 21:16:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:16:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:16:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:16:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:16:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:16:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 21:16:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
+[05/10 21:16:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:16:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:16:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 21:16:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.815s, found feasible grasp: True
+[05/10 21:16:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.615[m] 89.708[deg]
+[05/10 21:16:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:16:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:16:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:17:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:17:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:17:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:19:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:19:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:19:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:19:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:19:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:19:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:19:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.72s (batch: 4.49s, save: 9.23s)
+[05/10 21:19:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.46s:
+  episode_total: mean=208.41s, total=208.41s, count=1, min=208406.6ms, max=208406.6ms
+  sensor_polling: mean=513.7ms, total=154.12s, count=300, min=442.3ms, max=860.1ms
+  save_trajectories: mean=9.23s, total=9.23s, count=1, min=9230.4ms, max=9230.4ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=17.5ms, max=129.1ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4488.5ms, max=4488.5ms
+  task_sampling: mean=460.4ms, total=460.4ms, count=1, min=460.4ms, max=460.4ms
+  task_specific_sample: mean=455.3ms, total=455.3ms, count=1, min=455.3ms, max=455.3ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=641.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:19:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:19:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:19:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:19:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:19:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:19:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:19:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:19:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:19:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:19:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:19:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
+[05/10 21:19:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:19:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:19:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009104m
+[05/10 21:19:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:19:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:19:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:19:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:19:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92855029  0.9363339   0.00910388] yaw=-153.7deg
+[05/10 21:19:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:19:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:19:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:19:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:19:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.70900772  0.67431249  0.00910388] yaw=-170.3deg
+[05/10 21:19:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:19:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:19:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=213.5ms, total=213.6ms
+[05/10 21:19:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 0.936, 0.009)
+[05/10 21:19:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.7 deg
+[05/10 21:19:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.897m
+[05/10 21:19:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:19:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:19:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:19:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:19:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:19:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 21:19:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.090s
+[05/10 21:19:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:19:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:19:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 21:19:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.133s, found feasible grasp: True
+[05/10 21:19:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.511[m] 91.675[deg]
+[05/10 21:19:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:19:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:20:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:20:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:21:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:22:39 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:23:03 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:23:03 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:23:03 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:23:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:23:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:23:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.47s (batch: 4.75s, save: 11.73s)
+[05/10 21:23:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.74s:
+  episode_total: mean=211.83s, total=211.83s, count=1, min=211830.8ms, max=211830.8ms
+  sensor_polling: mean=527.4ms, total=158.23s, count=300, min=441.6ms, max=1366.6ms
+  save_trajectories: mean=11.73s, total=11.73s, count=1, min=11727.2ms, max=11727.2ms
+  physics_step: mean=24.7ms, total=7.42s, count=300, min=18.2ms, max=94.4ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4745.6ms, max=4745.6ms
+  task_sampling: mean=736.9ms, total=736.9ms, count=1, min=736.9ms, max=736.9ms
+  task_specific_sample: mean=731.8ms, total=731.8ms, count=1, min=731.8ms, max=731.8ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=655.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:23:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:23:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:23:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:23:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:23:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:23:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:23:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:23:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:23:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:23:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:23:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)
+[05/10 21:23:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:23:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:23:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006979m
+[05/10 21:23:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:23:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:23:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:23:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.69075632  0.47638615  0.00697917] yaw=168.8deg
+[05/10 21:23:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:23:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.158266    1.11917447  0.00697917] yaw=-130.4deg
+[05/10 21:23:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:23:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8029846   0.49049159  0.00697917] yaw=-182.1deg
+[05/10 21:23:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:23:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:23:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=81.9ms, total=81.9ms
+[05/10 21:23:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.476, 0.007)
+[05/10 21:23:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg
+[05/10 21:23:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.012m
+[05/10 21:23:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:23:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:23:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:23:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:23:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:23:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 21:23:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 21:23:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:23:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:23:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:23:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.560s, found feasible grasp: True
+[05/10 21:23:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.565[m] 88.105[deg]
+[05/10 21:23:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:23:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:24:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:24:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:24:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:26:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:26:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:26:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:26:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:26:52 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:26:52 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:26:52 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.92s (batch: 4.37s, save: 8.55s)
+[05/10 21:26:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s:
+  episode_total: mean=211.31s, total=211.31s, count=1, min=211305.8ms, max=211305.8ms
+  sensor_polling: mean=523.0ms, total=156.91s, count=300, min=445.6ms, max=1065.9ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.9ms, max=8549.9ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=17.9ms, max=101.7ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4373.9ms, max=4373.9ms
+  task_sampling: mean=384.1ms, total=384.1ms, count=1, min=384.1ms, max=384.1ms
+  task_specific_sample: mean=380.4ms, total=380.4ms, count=1, min=380.4ms, max=380.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=408.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:26:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:26:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:26:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:26:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:26:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:26:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:26:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:26:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:26:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:26:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:26:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)
+[05/10 21:26:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:26:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:26:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080919m
+[05/10 21:26:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:26:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:26:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:26:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7810963   0.5303907   0.08091874] yaw=-172.9deg
+[05/10 21:26:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:26:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.14179506  1.13817652  0.08091874] yaw=-126.0deg
+[05/10 21:26:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:26:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:26:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96038461  0.34688931  0.08091874] yaw=163.4deg
+[05/10 21:26:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:26:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:26:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.1ms
+[05/10 21:26:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.781, 0.530, 0.081)
+[05/10 21:26:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -172.9 deg
+[05/10 21:26:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.923m
+[05/10 21:26:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:26:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:26:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:26:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:26:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:26:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 21:26:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.099s
+[05/10 21:26:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:26:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:26:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 21:26:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.562s, found feasible grasp: True
+[05/10 21:26:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.484[m] 92.851[deg]
+[05/10 21:26:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:26:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:27:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:28:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:28:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:29:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:30:16 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:30:16 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:30:16 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:30:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:30:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:30:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.16s (batch: 5.20s, save: 10.96s)
+[05/10 21:30:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.46s:
+  episode_total: mean=217.97s, total=217.97s, count=1, min=217965.1ms, max=217965.1ms
+  sensor_polling: mean=532.1ms, total=159.62s, count=300, min=448.8ms, max=919.9ms
+  save_trajectories: mean=10.96s, total=10.96s, count=1, min=10963.8ms, max=10963.8ms
+  physics_step: mean=27.8ms, total=8.35s, count=300, min=17.9ms, max=105.7ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5198.1ms, max=5198.1ms
+  task_sampling: mean=462.2ms, total=462.2ms, count=1, min=462.2ms, max=462.2ms
+  task_specific_sample: mean=458.2ms, total=458.2ms, count=1, min=458.2ms, max=458.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=423.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:30:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:30:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:30:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 21:30:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:30:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:30:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030636m
+[05/10 21:30:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:30:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:30:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.81004362  0.2285971   0.0306361 ] yaw=174.9deg
+[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8687516  0.3844181  0.0306361] yaw=176.9deg
+[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 104.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.78449667  0.8780896   0.0306361 ] yaw=-156.3deg
+[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:30:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:30:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.7ms, total=206.8ms
+[05/10 21:30:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.810, 0.229, 0.031)
+[05/10 21:30:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.9 deg
+[05/10 21:30:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.928m
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:30:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:30:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 21:30:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.100s
+[05/10 21:30:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:30:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:30:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 21:30:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.554s, found feasible grasp: True
+[05/10 21:30:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.514[m] 95.872[deg]
+[05/10 21:30:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:30:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:30:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:31:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:33:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:33:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:33:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:33:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:33:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:33:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:33:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:33:15 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:33:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:33:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:33:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 78 non-colliding grasps
+[05/10 21:33:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.457s, found feasible grasp: True
+[05/10 21:33:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.742[deg]
+[05/10 21:33:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:33:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:33:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
+[05/10 21:33:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:33:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 21:33:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:33:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:33:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 78 non-colliding grasps
+[05/10 21:33:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.442s, found feasible grasp: True
+[05/10 21:33:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.742[deg]
+[05/10 21:33:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:33:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:33:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:33:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:33:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:33:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:33:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:33:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:34:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:34:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:34:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.85s (batch: 4.08s, save: 9.77s)
+[05/10 21:34:08 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.55s:
+  episode_total: mean=213.57s, total=213.57s, count=1, min=213573.2ms, max=213573.2ms
+  sensor_polling: mean=497.9ms, total=149.38s, count=300, min=438.9ms, max=928.9ms
+  save_trajectories: mean=9.77s, total=9.77s, count=1, min=9770.7ms, max=9770.7ms
+  physics_step: mean=24.0ms, total=7.20s, count=300, min=18.2ms, max=52.1ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4082.0ms, max=4082.0ms
+  task_sampling: mean=552.0ms, total=552.0ms, count=1, min=552.0ms, max=552.0ms
+  task_specific_sample: mean=547.9ms, total=547.9ms, count=1, min=547.9ms, max=547.9ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=413.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:34:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:34:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:34:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:34:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:34:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:34:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:34:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:34:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:34:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:34:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:34:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/10 21:34:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:34:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:34:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062155m
+[05/10 21:34:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:34:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:34:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:34:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:34:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85319739  0.91691337  0.06215483] yaw=-152.3deg
+[05/10 21:34:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:34:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 123.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:34:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:34:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.79724583  0.91953941  0.06215483] yaw=-152.5deg
+[05/10 21:34:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:34:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.89177735  0.29904419  0.06215483] yaw=158.3deg
+[05/10 21:34:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:34:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:34:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.2ms, total=238.2ms
+[05/10 21:34:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.853, 0.917, 0.062)
+[05/10 21:34:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg
+[05/10 21:34:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.954m
+[05/10 21:34:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:34:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:34:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:34:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:34:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:34:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 21:34:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 21:34:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:34:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:34:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.041s, found 88 non-colliding grasps
+[05/10 21:34:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True
+[05/10 21:34:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.520[m] 86.134[deg]
+[05/10 21:34:11 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:34:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:34:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:35:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:35:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:36:40 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:37:02 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:37:02 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 1/4: 1 episodes
+[05/10 21:37:02 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:37:16 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:37:16 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:37:16 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.70s (batch: 3.82s, save: 9.88s)
+[05/10 21:37:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.55s:
+  episode_total: mean=187.16s, total=187.16s, count=1, min=187155.3ms, max=187155.3ms
+  sensor_polling: mean=464.3ms, total=139.29s, count=300, min=405.8ms, max=696.1ms
+  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9879.9ms, max=9879.9ms
+  physics_step: mean=21.7ms, total=6.50s, count=300, min=14.4ms, max=77.8ms
+  save_batch_prep: mean=3.82s, total=3.82s, count=1, min=3821.8ms, max=3821.8ms
+  task_sampling: mean=546.4ms, total=546.4ms, count=1, min=546.4ms, max=546.4ms
+  task_specific_sample: mean=542.7ms, total=542.7ms, count=1, min=542.7ms, max=542.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=394.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:37:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
+[05/10 21:37:18 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
+[05/10 21:37:18 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
+[05/10 21:37:18 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=6320.37s
+  House averages:
+  episode_total: mean=190.39s, total=3427.04s, count=18, min=4921.5ms, max=232703.9ms
+  sensor_polling: mean=511.3ms, total=2550.99s, count=4989, min=405.8ms, max=1366.6ms
+  save_trajectories: mean=9.96s, total=129.51s, count=13, min=8549.9ms, max=11727.2ms
+  physics_step: mean=25.4ms, total=126.52s, count=4989, min=14.4ms, max=129.1ms
+  save_batch_prep: mean=4.45s, total=57.88s, count=13, min=3821.8ms, max=5198.1ms
+  task_sampling: mean=692.5ms, total=12.47s, count=18, min=380.4ms, max=3118.6ms
+  task_specific_sample: mean=540.2ms, total=9.72s, count=18, min=376.7ms, max=776.0ms
+  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
+  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
+  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.5ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  mj_forward_sync: mean=486.5us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 21:37:18 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 21:37:18 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=6320.37s
+  Worker averages:
+  episode_total: mean=190.39s, total=3427.04s, count=18, min=4921.5ms, max=232703.9ms
+  sensor_polling: mean=511.3ms, total=2550.99s, count=4989, min=405.8ms, max=1366.6ms
+  save_trajectories: mean=9.96s, total=129.51s, count=13, min=8549.9ms, max=11727.2ms
+  physics_step: mean=25.4ms, total=126.52s, count=4989, min=14.4ms, max=129.1ms
+  save_batch_prep: mean=4.45s, total=57.88s, count=13, min=3821.8ms, max=5198.1ms
+  task_sampling: mean=692.5ms, total=12.47s, count=18, min=380.4ms, max=3118.6ms
+  task_specific_sample: mean=540.2ms, total=9.72s, count=18, min=376.7ms, max=776.0ms
+  scene_load: mean=2.67s, total=2.67s, count=1, min=2670.0ms, max=2670.0ms
+  scene_env_create: mean=1.71s, total=1.71s, count=1, min=1714.1ms, max=1714.1ms
+  scene_compile: mean=763.8ms, total=763.8ms, count=1, min=763.8ms, max=763.8ms
+  compile_mujoco: mean=560.7ms, total=560.7ms, count=1, min=560.7ms, max=560.7ms
+  compile_xml_load: mean=144.8ms, total=144.8ms, count=1, min=144.8ms, max=144.8ms
+  scene_init: mean=133.1ms, total=133.1ms, count=1, min=133.1ms, max=133.1ms
+  scene_asset_install: mean=58.6ms, total=58.6ms, count=1, min=58.6ms, max=58.6ms
+  compile_aux_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  compile_aux_policy_objects: mean=43.0ms, total=43.0ms, count=1, min=43.0ms, max=43.0ms
+  scene_randomize: mean=2.3ms, total=42.2ms, count=18, min=1.2ms, max=3.5ms
+  asset_install_grasps: mean=37.7ms, total=37.7ms, count=1, min=37.7ms, max=37.7ms
+  asset_install_objects: mean=14.0ms, total=14.0ms, count=1, min=14.0ms, max=14.0ms
+  mj_forward_sync: mean=486.5us, total=8.8ms, count=18, min=0.4ms, max=0.7ms
+  asset_install_scene: mean=6.8ms, total=6.8ms, count=1, min=6.8ms, max=6.8ms
+  compile_robot_add: mean=6.6ms, total=6.6ms, count=1, min=6.6ms, max=6.6ms
+  policy_setup: mean=20.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 21:37:20 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 21:37:20 INFO pipeline.py:1491] Success count: 13, Total count: 13
+[05/10 21:37:20 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 1/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_008
+==========================================
diff --git a/fridge_7/chunk_008/shard_2_of_4.log b/fridge_7/chunk_008/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..603f02eb0da1e3404b077d05e5566e81fb6e3a90
--- /dev/null
+++ b/fridge_7/chunk_008/shard_2_of_4.log
@@ -0,0 +1,1618 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_008
+  shard=2/4  seed=20802  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:39:39 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 20:39:39 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 20:39:39 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_008'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 20:39:39 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7196189fe1d0>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20802,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 20:39:39 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 20:39:39 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 124889469284560 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 124889469284560 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 124889469284560 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 124889469284560 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 124889467897744 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 124889467897744 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 124889467898128 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 124889467898128 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 124889467898128 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 124889467898128 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 124889467897744 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 124889467897744 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 124889467208080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 124889467208080 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 124889467212816 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 124889467212816 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 124889467212816 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 124889467212816 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 124889467208080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 124889467208080 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 20:39:39 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5f48165b25f0 at 0x719618e085d0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f48165e0190 at 0x7196187116d0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5f48165e0190 at 0x719618d9ab10>
+[05/10 20:39:41 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 20:39:41 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:39:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
+[05/10 20:39:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:39:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:39:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.066341m
+[05/10 20:39:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:39:42 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 20:39:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78184869  0.45385721  0.06634096] yaw=186.4deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.83374436  0.37243671  0.06634096] yaw=178.1deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73115906  0.35503626  0.06634096] yaw=176.7deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:39:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:39:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=12.7ms, retries=137.1ms, total=149.8ms
+[05/10 20:39:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.454, 0.066)
+[05/10 20:39:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 186.4 deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.921m
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:39:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:39:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 20:40:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 27.449s
+[05/10 20:40:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:40:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:40:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:40:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.648s, found feasible grasp: True
+[05/10 20:40:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.465[m] 91.075[deg]
+[05/10 20:40:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:41:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:41:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:41:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:43:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 20:43:21 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:43:21 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 20:43:21 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:43:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 20:43:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:43:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.11s (batch: 4.22s, save: 8.89s)
+[05/10 20:43:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.38s:
+  episode_total: mean=235.74s, total=235.74s, count=1, min=235744.9ms, max=235744.9ms
+  sensor_polling: mean=518.6ms, total=155.59s, count=300, min=445.8ms, max=782.6ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8892.4ms, max=8892.4ms
+  physics_step: mean=28.1ms, total=8.43s, count=300, min=18.2ms, max=98.4ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4219.6ms, max=4219.6ms
+  task_sampling: mean=3.38s, total=3.38s, count=1, min=3381.7ms, max=3381.7ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
+  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
+  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
+  task_specific_sample: mean=491.9ms, total=491.9ms, count=1, min=491.9ms, max=491.9ms
+  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=406.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=36.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:43:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:43:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:43:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:43:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:43:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:43:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:43:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:43:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:43:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:43:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:43:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.032m, effective arm-mount z=0.892m (base_body_z=0.032m, pedestal_h=0.860m)
+[05/10 20:43:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:43:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:43:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031722m
+[05/10 20:43:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:43:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:43:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:43:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85114707  0.21209078  0.03172185] yaw=157.7deg
+[05/10 20:43:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:43:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02805143  0.99570984  0.03172185] yaw=-134.6deg
+[05/10 20:43:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:43:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95074595  0.90874406  0.03172185] yaw=-157.1deg
+[05/10 20:43:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:43:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:43:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=215.0ms
+[05/10 20:43:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.851, 0.212, 0.032)
+[05/10 20:43:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.7 deg
+[05/10 20:43:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
+[05/10 20:43:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:43:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:43:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:43:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:43:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:43:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 20:43:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.134s
+[05/10 20:43:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:43:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:43:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.093s, found 88 non-colliding grasps
+[05/10 20:43:37 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True
+[05/10 20:43:37 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.456[m] 85.843[deg]
+[05/10 20:43:37 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:43:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:43:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:44:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:44:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:44:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:45:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:46:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:46:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:46:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:46:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:46:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 80 non-colliding grasps
+[05/10 20:46:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.405s, found feasible grasp: True
+[05/10 20:46:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.159[deg]
+[05/10 20:46:06 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:46:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:46:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:46:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:46:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:46:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:46:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:46:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:46:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)
+[05/10 20:46:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:46:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:46:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031428m
+[05/10 20:46:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:46:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:46:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:46:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03326057  0.83407952  0.03142835] yaw=-153.0deg
+[05/10 20:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.72875578  0.21780097  0.03142835] yaw=172.8deg
+[05/10 20:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:46:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:46:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:46:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77324448  0.84483873  0.03142835] yaw=-152.7deg
+[05/10 20:46:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:46:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:46:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.2ms, total=137.2ms
+[05/10 20:46:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.033, 0.834, 0.031)
+[05/10 20:46:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -153.0 deg
+[05/10 20:46:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
+[05/10 20:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:46:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:46:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:46:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 20:46:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 20:46:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:46:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:46:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 20:46:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.510s, found feasible grasp: True
+[05/10 20:46:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.353[m] 91.310[deg]
+[05/10 20:46:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:46:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:46:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:46:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:48:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:49:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:49:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 20:49:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
+[05/10 20:49:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:49:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:49:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.33s (batch: 4.55s, save: 8.78s)
+[05/10 20:49:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.92s:
+  episode_total: mean=174.34s, total=348.69s, count=2, min=149907.6ms, max=198777.8ms
+  sensor_polling: mean=523.9ms, total=278.74s, count=532, min=431.5ms, max=837.4ms
+  physics_step: mean=26.0ms, total=13.86s, count=532, min=15.3ms, max=89.1ms
+  save_trajectories: mean=8.78s, total=8.78s, count=1, min=8784.1ms, max=8784.1ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4549.0ms, max=4549.0ms
+  task_sampling: mean=459.9ms, total=919.7ms, count=2, min=403.3ms, max=516.4ms
+  task_specific_sample: mean=456.0ms, total=911.9ms, count=2, min=400.0ms, max=511.9ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.4ms, max=3.0ms
+  mj_forward_sync: mean=491.0us, total=1.0ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:49:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:49:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:49:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:49:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:49:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:49:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:49:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
+[05/10 20:49:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:49:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:49:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015332m
+[05/10 20:49:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:49:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:49:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.81948029  0.39008478  0.0153316 ] yaw=170.3deg
+[05/10 20:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71098987  0.56772336  0.0153316 ] yaw=-164.9deg
+[05/10 20:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:49:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84129966  0.52357486  0.0153316 ] yaw=-185.8deg
+[05/10 20:49:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:49:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:49:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.0ms
+[05/10 20:49:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.819, 0.390, 0.015)
+[05/10 20:49:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.3 deg
+[05/10 20:49:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.888m
+[05/10 20:49:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:49:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:49:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:49:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:49:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:49:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 20:49:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 20:49:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:49:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:49:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:49:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.471s, found feasible grasp: True
+[05/10 20:49:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.447[m] 93.872[deg]
+[05/10 20:49:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:49:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:50:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:50:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:50:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:52:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:52:39 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:52:39 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 20:52:39 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:52:53 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:52:53 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:52:53 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.29s (batch: 4.24s, save: 9.05s)
+[05/10 20:52:53 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.35s:
+  episode_total: mean=205.00s, total=205.00s, count=1, min=204999.9ms, max=204999.9ms
+  sensor_polling: mean=524.7ms, total=157.42s, count=300, min=442.7ms, max=971.5ms
+  save_trajectories: mean=9.05s, total=9.05s, count=1, min=9050.9ms, max=9050.9ms
+  physics_step: mean=27.3ms, total=8.19s, count=300, min=15.4ms, max=67.5ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4240.0ms, max=4240.0ms
+  task_sampling: mean=350.0ms, total=350.0ms, count=1, min=350.0ms, max=350.0ms
+  task_specific_sample: mean=343.5ms, total=343.5ms, count=1, min=343.5ms, max=343.5ms
+  scene_randomize: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms
+  mj_forward_sync: mean=486.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:52:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:52:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:52:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:52:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:52:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:52:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.012m, effective arm-mount z=0.872m (base_body_z=0.012m, pedestal_h=0.860m)
+[05/10 20:52:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:52:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:52:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.011647m
+[05/10 20:52:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:52:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:52:55 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 122.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:55 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 106.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:55 Worker 0 INFO env.py:1105] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=410.6ms, total=410.6ms
+[05/10 20:52:55 Worker 0 INFO opening_task_samplers.py:285] [TASK SAMPLING] Failed to place robot near 'Fridge_7_upside_down_root'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1024, in process_single_house
+    task = runner_class.sample_task_from_spec(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 714, in sample_task_from_spec
+    return task_sampler.sample_task(house_index=house_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task_sampler.py", line 1127, in sample_task
+    task = self._sample_task(self.env)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 123, in _sample_task
+    self._sample_and_place_robot(env)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/opening_task_samplers.py", line 286, in _sample_and_place_robot
+    raise ValueError(f"Failed to place robot near object: {pickup_obj.name}")
+ValueError: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 20:52:55 Worker 0 ERROR pipeline.py:1063] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: Fridge_7_upside_down_root
+[05/10 20:52:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:52:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:52:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:52:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:52:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:52:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:52:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:52:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:52:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:52:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:52:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
+[05/10 20:52:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:52:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:52:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052029m
+[05/10 20:52:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:52:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:52:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:52:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97705503  0.94216924  0.05202944] yaw=-154.1deg
+[05/10 20:52:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:52:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79062807  0.65347013  0.05202944] yaw=-170.4deg
+[05/10 20:52:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:52:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.93624977  0.29086984  0.05202944] yaw=155.9deg
+[05/10 20:52:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:52:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:52:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=531.5ms, total=531.6ms
+[05/10 20:52:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.977, 0.942, 0.052)
+[05/10 20:52:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.1 deg
+[05/10 20:52:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.859m
+[05/10 20:52:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:52:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:52:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:52:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:52:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:52:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 20:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 20:52:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:52:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:52:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 20:52:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.686s, found feasible grasp: True
+[05/10 20:52:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.465[m] 86.296[deg]
+[05/10 20:52:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:53:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:53:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:53:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:54:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:54:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:55:44 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:56:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:56:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 20:56:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:56:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:56:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:56:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.93s (batch: 4.28s, save: 10.65s)
+[05/10 20:56:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.87s:
+  episode_total: mean=103.93s, total=207.87s, count=2, min=424.0ms, max=207445.7ms
+  sensor_polling: mean=512.6ms, total=153.78s, count=300, min=445.6ms, max=860.5ms
+  save_trajectories: mean=10.65s, total=10.65s, count=1, min=10645.7ms, max=10645.7ms
+  physics_step: mean=24.6ms, total=7.37s, count=300, min=16.2ms, max=58.0ms
+  save_batch_prep: mean=4.28s, total=4.28s, count=1, min=4283.8ms, max=4283.8ms
+  task_specific_sample: mean=641.4ms, total=1.28s, count=2, min=417.0ms, max=865.7ms
+  task_sampling: mean=869.0ms, total=869.0ms, count=1, min=869.0ms, max=869.0ms
+  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=536.7us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:56:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:56:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:56:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:56:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:56:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:56:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:56:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:56:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:56:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:56:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:56:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/10 20:56:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:56:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:56:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097099m
+[05/10 20:56:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:56:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:56:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:56:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.11552595  0.95286329  0.09709915] yaw=-138.6deg
+[05/10 20:56:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:56:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.66141073  0.460656    0.09709915] yaw=184.3deg
+[05/10 20:56:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:56:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.04212281  1.22682431  0.09709915] yaw=-128.7deg
+[05/10 20:56:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:56:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:56:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.7ms, total=201.7ms
+[05/10 20:56:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.116, 0.953, 0.097)
+[05/10 20:56:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.6 deg
+[05/10 20:56:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.752m
+[05/10 20:56:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:56:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:56:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:56:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:56:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:56:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 20:56:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.115s
+[05/10 20:56:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:56:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:56:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 20:56:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.105s, found feasible grasp: True
+[05/10 20:56:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.304[m] 84.198[deg]
+[05/10 20:56:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:57:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:57:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:59:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:59:26 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:59:26 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 20:59:26 Worker 0 INFO save_utils.py:278] Preparing episode data: 283 timesteps
+[05/10 20:59:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:59:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:59:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.27s (batch: 4.26s, save: 11.01s)
+[05/10 20:59:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.51s:
+  episode_total: mean=194.88s, total=194.88s, count=1, min=194881.2ms, max=194881.2ms
+  sensor_polling: mean=518.6ms, total=146.24s, count=282, min=452.4ms, max=793.2ms
+  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11009.8ms, max=11009.8ms
+  physics_step: mean=25.4ms, total=7.15s, count=282, min=18.3ms, max=76.6ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4263.7ms, max=4263.7ms
+  task_sampling: mean=509.4ms, total=509.4ms, count=1, min=509.4ms, max=509.4ms
+  task_specific_sample: mean=504.7ms, total=504.7ms, count=1, min=504.7ms, max=504.7ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=528.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:59:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:59:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:59:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:59:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:59:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:59:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:59:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:59:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:59:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:59:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:59:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.062m, effective arm-mount z=0.922m (base_body_z=0.062m, pedestal_h=0.860m)
+[05/10 20:59:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:59:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:59:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061877m
+[05/10 20:59:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:59:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:59:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:59:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:59:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:59:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74420959  0.92878608  0.06187672] yaw=-164.9deg
+[05/10 20:59:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:59:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76783102  0.23666016  0.06187672] yaw=162.8deg
+[05/10 20:59:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:59:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:59:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97854473  0.90399044  0.06187672] yaw=-147.7deg
+[05/10 20:59:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:59:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:59:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.0ms, total=160.0ms
+[05/10 20:59:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.744, 0.929, 0.062)
+[05/10 20:59:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -164.9 deg
+[05/10 20:59:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.057m
+[05/10 20:59:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:59:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:59:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:59:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:59:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:59:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 20:59:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.094s
+[05/10 20:59:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:59:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:59:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 20:59:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.944s, found feasible grasp: True
+[05/10 20:59:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.674[m] 94.085[deg]
+[05/10 20:59:47 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:59:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:59:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:59:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:59:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:59:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:59:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:59:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:59:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:59:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:59:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:59:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.026m, effective arm-mount z=0.886m (base_body_z=0.026m, pedestal_h=0.860m)
+[05/10 20:59:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:59:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:59:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025708m
+[05/10 20:59:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:59:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:59:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:59:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.03868252  0.9814581   0.02570762] yaw=-133.7deg
+[05/10 20:59:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:59:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:59:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:59:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.93708032  1.01935324  0.02570762] yaw=-139.8deg
+[05/10 20:59:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:59:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88106154  0.14791502  0.02570762] yaw=164.8deg
+[05/10 20:59:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:59:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:59:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.5ms, total=119.5ms
+[05/10 20:59:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.039, 0.981, 0.026)
+[05/10 20:59:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.7 deg
+[05/10 20:59:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.831m
+[05/10 20:59:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:59:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:59:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:59:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:59:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:59:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 20:59:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.050s
+[05/10 20:59:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:59:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:59:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 20:59:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.574s, found feasible grasp: True
+[05/10 20:59:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.398[m] 87.185[deg]
+[05/10 20:59:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:59:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:00:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:00:45 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:00:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:02:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:02:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:02:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:02:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:02:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:02:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:03:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:03:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 21:03:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:03:23 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:03:23 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:03:23 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.56s (batch: 4.16s, save: 9.39s)
+[05/10 21:03:23 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.93s:
+  episode_total: mean=109.03s, total=218.06s, count=2, min=3762.9ms, max=214292.6ms
+  sensor_polling: mean=518.3ms, total=155.50s, count=300, min=437.4ms, max=1021.9ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9394.6ms, max=9394.6ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=18.5ms, max=80.1ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4165.0ms, max=4165.0ms
+  task_sampling: mean=464.9ms, total=929.8ms, count=2, min=394.7ms, max=535.1ms
+  task_specific_sample: mean=461.4ms, total=922.8ms, count=2, min=391.6ms, max=531.2ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=431.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:03:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:03:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:03:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:03:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:03:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:03:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:03:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:03:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:03:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:03:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:03:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)
+[05/10 21:03:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:03:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:03:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070359m
+[05/10 21:03:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:03:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:03:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:03:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:03:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:03:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.6882743   0.77303825  0.07035882] yaw=-159.0deg
+[05/10 21:03:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:03:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 105.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:03:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8717183   0.34470016  0.07035882] yaw=172.0deg
+[05/10 21:03:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:03:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92836877  0.35679828  0.07035882] yaw=160.4deg
+[05/10 21:03:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:03:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:03:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=445.2ms, total=445.2ms
+[05/10 21:03:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.688, 0.773, 0.070)
+[05/10 21:03:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -159.0 deg
+[05/10 21:03:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.055m
+[05/10 21:03:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:03:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:03:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:03:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:03:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:03:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 21:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.161s
+[05/10 21:03:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:03:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:03:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 21:03:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.576s, found feasible grasp: True
+[05/10 21:03:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.567[m] 76.978[deg]
+[05/10 21:03:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:03:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:04:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:04:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:04:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:06:12 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:06:37 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:06:37 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 21:06:37 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:06:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:06:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:06:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.72s (batch: 4.80s, save: 11.92s)
+[05/10 21:06:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.75s:
+  episode_total: mean=208.91s, total=208.91s, count=1, min=208912.7ms, max=208912.7ms
+  sensor_polling: mean=504.8ms, total=151.43s, count=300, min=439.2ms, max=782.2ms
+  save_trajectories: mean=11.92s, total=11.92s, count=1, min=11919.7ms, max=11919.7ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.9ms, max=61.1ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4802.7ms, max=4802.7ms
+  task_sampling: mean=754.1ms, total=754.1ms, count=1, min=754.1ms, max=754.1ms
+  task_specific_sample: mean=749.4ms, total=749.4ms, count=1, min=749.4ms, max=749.4ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=546.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:06:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:06:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:06:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:06:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:06:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:06:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:06:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:06:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:06:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:06:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:06:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)
+[05/10 21:06:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:06:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:06:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094808m
+[05/10 21:06:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:06:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:06:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86202496  0.11575007  0.09480783] yaw=162.8deg
+[05/10 21:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:06:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:06:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.86221134  0.90179343  0.09480783] yaw=-158.3deg
+[05/10 21:06:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:06:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81107541  0.60100077  0.09480783] yaw=-167.9deg
+[05/10 21:06:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:06:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:06:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.9ms
+[05/10 21:06:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.862, 0.116, 0.095)
+[05/10 21:06:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 162.8 deg
+[05/10 21:06:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.917m
+[05/10 21:06:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:06:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:06:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:06:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:06:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:06:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 21:06:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 21:06:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:06:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:06:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:06:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True
+[05/10 21:06:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.518[m] 99.536[deg]
+[05/10 21:06:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:06:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:06:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:07:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:09:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:09:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:09:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:09:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:09:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:09:34 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:09:34 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:09:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:09:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:09:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
+[05/10 21:09:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.855s, found feasible grasp: True
+[05/10 21:09:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.359[deg]
+[05/10 21:09:38 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:09:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:09:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:09:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:09:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:09:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:09:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:09:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:09:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:09:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:09:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:09:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
+[05/10 21:09:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:09:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:09:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026858m
+[05/10 21:09:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:09:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:09:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76180604  0.94642698  0.02685766] yaw=-163.8deg
+[05/10 21:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:09:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 114.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13545047  1.10226783  0.02685766] yaw=-123.4deg
+[05/10 21:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:09:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.70972525  0.54713856  0.02685766] yaw=-178.7deg
+[05/10 21:09:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:09:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:09:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.7ms, total=110.8ms
+[05/10 21:09:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.762, 0.946, 0.027)
+[05/10 21:09:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.8 deg
+[05/10 21:09:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.049m
+[05/10 21:09:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:09:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:09:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:09:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:09:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:09:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 21:09:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 21:09:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:09:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:09:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 21:09:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True
+[05/10 21:09:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.657[m] 93.126[deg]
+[05/10 21:09:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:09:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:11:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:12:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:12:48 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:12:48 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 21:12:48 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:13:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:13:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:13:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.98s (batch: 5.40s, save: 9.58s)
+[05/10 21:13:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.93s:
+  episode_total: mean=182.28s, total=364.57s, count=2, min=161375.7ms, max=203194.1ms
+  sensor_polling: mean=511.6ms, total=283.41s, count=554, min=427.9ms, max=1191.0ms
+  physics_step: mean=25.1ms, total=13.89s, count=554, min=15.1ms, max=112.2ms
+  save_trajectories: mean=9.58s, total=9.58s, count=1, min=9577.4ms, max=9577.4ms
+  save_batch_prep: mean=5.40s, total=5.40s, count=1, min=5403.2ms, max=5403.2ms
+  task_sampling: mean=463.1ms, total=926.2ms, count=2, min=400.0ms, max=526.2ms
+  task_specific_sample: mean=459.2ms, total=918.5ms, count=2, min=396.4ms, max=522.0ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.7ms, max=2.8ms
+  mj_forward_sync: mean=504.9us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:13:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:13:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:13:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:13:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:13:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:13:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:13:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:13:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:13:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:13:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:13:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
+[05/10 21:13:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:13:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:13:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018486m
+[05/10 21:13:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:13:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:13:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:13:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:13:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.00915683  0.95196939  0.01848562] yaw=-143.0deg
+[05/10 21:13:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:13:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:13:05 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:13:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7464437   0.09366935  0.01848562] yaw=153.8deg
+[05/10 21:13:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:13:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80733136  0.26203661  0.01848562] yaw=162.1deg
+[05/10 21:13:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:13:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:13:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.5ms, total=138.6ms
+[05/10 21:13:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.009, 0.952, 0.018)
+[05/10 21:13:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.0 deg
+[05/10 21:13:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.837m
+[05/10 21:13:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:13:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:13:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:13:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:13:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:13:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 21:13:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 21:13:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:13:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:13:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/10 21:13:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.697s, found feasible grasp: True
+[05/10 21:13:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.462[m] 98.355[deg]
+[05/10 21:13:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:13:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:13:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:14:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:14:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:15:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:16:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:16:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 21:16:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:16:35 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:16:35 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:16:35 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.71s (batch: 4.34s, save: 10.38s)
+[05/10 21:16:36 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.44s:
+  episode_total: mean=211.15s, total=211.15s, count=1, min=211145.4ms, max=211145.4ms
+  sensor_polling: mean=514.6ms, total=154.37s, count=300, min=439.6ms, max=873.6ms
+  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10376.1ms, max=10376.1ms
+  physics_step: mean=25.8ms, total=7.73s, count=300, min=14.7ms, max=82.9ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4336.7ms, max=4336.7ms
+  task_sampling: mean=437.7ms, total=437.7ms, count=1, min=437.7ms, max=437.7ms
+  task_specific_sample: mean=434.0ms, total=434.0ms, count=1, min=434.0ms, max=434.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=422.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:16:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:16:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:16:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:16:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:16:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:16:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:16:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:16:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:16:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:16:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:16:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
+[05/10 21:16:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:16:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:16:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098945m
+[05/10 21:16:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:16:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:16:38 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:16:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.94107954  1.27495925  0.09894454] yaw=-142.2deg
+[05/10 21:16:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:16:38 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:16:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.88610995  0.94020502  0.09894454] yaw=-156.4deg
+[05/10 21:16:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:16:38 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01253029  0.90722948  0.09894454] yaw=-146.3deg
+[05/10 21:16:38 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:16:38 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:16:38 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=421.1ms, total=421.2ms
+[05/10 21:16:38 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.941, 1.275, 0.099)
+[05/10 21:16:38 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -142.2 deg
+[05/10 21:16:38 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.099m
+[05/10 21:16:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:16:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:16:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:16:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:16:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:16:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 21:16:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
+[05/10 21:16:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:16:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:16:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps
+[05/10 21:16:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.006s, found feasible grasp: False
+[05/10 21:16:42 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 21:16:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:16:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:16:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:16:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:16:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:16:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:16:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:16:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:16:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:16:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:16:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
+[05/10 21:16:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:16:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:16:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099381m
+[05/10 21:16:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:16:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:16:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:16:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 123.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:16:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:16:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 97.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:16:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96739824  0.821801    0.09938121] yaw=-154.2deg
+[05/10 21:16:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:16:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.82488118  0.4547541   0.09938121] yaw=179.0deg
+[05/10 21:16:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:16:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.08665308  1.05510919  0.09938121] yaw=-140.0deg
+[05/10 21:16:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:16:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:16:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=187.7ms, total=187.7ms
+[05/10 21:16:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.822, 0.099)
+[05/10 21:16:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg
+[05/10 21:16:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.810m
+[05/10 21:16:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:16:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:16:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:16:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:16:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:16:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 21:16:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.102s
+[05/10 21:16:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:16:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:16:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 21:16:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.730s, found feasible grasp: True
+[05/10 21:16:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.353[m] 85.056[deg]
+[05/10 21:16:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:16:46 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:16:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:17:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:17:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:17:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:19:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:20:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:20:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 21:20:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 293 timesteps
+[05/10 21:20:14 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:20:14 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:20:14 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.20s (batch: 4.92s, save: 9.28s)
+[05/10 21:20:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=1.21s:
+  episode_total: mean=107.27s, total=214.55s, count=2, min=3958.6ms, max=210587.9ms
+  sensor_polling: mean=527.8ms, total=154.13s, count=292, min=437.2ms, max=1281.9ms
+  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9276.1ms, max=9276.1ms
+  physics_step: mean=26.1ms, total=7.63s, count=292, min=15.8ms, max=126.1ms
+  save_batch_prep: mean=4.92s, total=4.92s, count=1, min=4921.1ms, max=4921.1ms
+  task_sampling: mean=606.5ms, total=1.21s, count=2, min=450.0ms, max=762.9ms
+  task_specific_sample: mean=601.5ms, total=1.20s, count=2, min=444.6ms, max=758.3ms
+  scene_randomize: mean=2.9ms, total=5.9ms, count=2, min=2.7ms, max=3.2ms
+  mj_forward_sync: mean=874.0us, total=1.7ms, count=2, min=0.6ms, max=1.2ms
+  policy_setup: mean=17.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:20:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:20:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:20:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:20:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:20:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:20:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:20:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:20:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:20:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:20:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:20:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
+[05/10 21:20:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:20:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:20:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028885m
+[05/10 21:20:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:20:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:20:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:20:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.67935582  0.47566532  0.0288846 ] yaw=185.4deg
+[05/10 21:20:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:20:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:20:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.77584687  0.14391026  0.0288846 ] yaw=161.3deg
+[05/10 21:20:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:20:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95801537  0.70958971  0.0288846 ] yaw=-163.3deg
+[05/10 21:20:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:20:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:20:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.3ms, total=110.3ms
+[05/10 21:20:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.679, 0.476, 0.029)
+[05/10 21:20:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 185.4 deg
+[05/10 21:20:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.023m
+[05/10 21:20:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:20:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:20:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:20:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:20:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:20:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 21:20:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 21:20:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:20:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:20:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 21:20:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.534s, found feasible grasp: True
+[05/10 21:20:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.533[m] 76.759[deg]
+[05/10 21:20:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:20:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:21:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:21:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:21:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:23:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:23:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:23:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:23:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:23:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:23:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:23:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 21:23:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:24:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:24:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:24:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.36s (batch: 4.75s, save: 8.61s)
+[05/10 21:24:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.40s:
+  episode_total: mean=226.89s, total=226.89s, count=1, min=226887.5ms, max=226887.5ms
+  sensor_polling: mean=536.1ms, total=160.82s, count=300, min=460.2ms, max=865.8ms
+  save_trajectories: mean=8.61s, total=8.61s, count=1, min=8614.8ms, max=8614.8ms
+  physics_step: mean=24.8ms, total=7.45s, count=300, min=16.3ms, max=83.6ms
+  save_batch_prep: mean=4.75s, total=4.75s, count=1, min=4747.6ms, max=4747.6ms
+  task_sampling: mean=404.2ms, total=404.2ms, count=1, min=404.2ms, max=404.2ms
+  task_specific_sample: mean=400.6ms, total=400.6ms, count=1, min=400.6ms, max=400.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=419.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:24:05 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:24:05 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:24:05 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:24:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:24:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:24:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:24:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:24:05 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:24:05 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:24:05 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:24:05 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 21:24:05 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:24:05 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:24:05 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016479m
+[05/10 21:24:05 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:24:05 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:24:05 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:24:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82856008  1.03574903  0.016479  ] yaw=-150.7deg
+[05/10 21:24:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:24:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02363036  1.31224936  0.016479  ] yaw=-139.2deg
+[05/10 21:24:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:24:05 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90614888  0.41199153  0.016479  ] yaw=171.4deg
+[05/10 21:24:05 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:24:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:24:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=87.6ms, total=87.6ms
+[05/10 21:24:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.829, 1.036, 0.016)
+[05/10 21:24:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -150.7 deg
+[05/10 21:24:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.034m
+[05/10 21:24:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:24:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:24:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:24:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:24:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:24:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 21:24:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 21:24:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:24:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:24:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 21:24:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.785s, found feasible grasp: True
+[05/10 21:24:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.576[m] 80.845[deg]
+[05/10 21:24:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:24:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:25:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:25:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:25:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:26:54 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:27:22 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:27:22 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 21:27:22 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:27:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:27:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:27:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.68s (batch: 4.50s, save: 10.18s)
+[05/10 21:27:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.41s:
+  episode_total: mean=212.32s, total=212.32s, count=1, min=212317.9ms, max=212317.9ms
+  sensor_polling: mean=518.2ms, total=155.47s, count=300, min=435.1ms, max=973.2ms
+  save_trajectories: mean=10.18s, total=10.18s, count=1, min=10178.2ms, max=10178.2ms
+  physics_step: mean=25.1ms, total=7.53s, count=300, min=18.6ms, max=106.6ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4497.0ms, max=4497.0ms
+  task_sampling: mean=414.4ms, total=414.4ms, count=1, min=414.4ms, max=414.4ms
+  task_specific_sample: mean=410.4ms, total=410.4ms, count=1, min=410.4ms, max=410.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=445.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:27:39 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:27:39 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:27:39 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:27:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:27:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:27:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:27:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:27:39 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:27:39 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:27:39 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:27:39 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 21:27:39 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:27:39 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:27:39 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040113m
+[05/10 21:27:39 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:27:39 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:27:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:27:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.96670327  0.93723545  0.04011328] yaw=-158.9deg
+[05/10 21:27:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:27:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:27:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90440846  0.09259245  0.04011328] yaw=143.5deg
+[05/10 21:27:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:27:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:27:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.7936102   0.04918783  0.04011328] yaw=146.2deg
+[05/10 21:27:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:27:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:27:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.4ms, total=123.4ms
+[05/10 21:27:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.967, 0.937, 0.040)
+[05/10 21:27:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -158.9 deg
+[05/10 21:27:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
+[05/10 21:27:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:27:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:27:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:27:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:27:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:27:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 21:27:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 21:27:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:27:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:27:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
+[05/10 21:27:40 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.577s, found feasible grasp: True
+[05/10 21:27:40 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.458[m] 83.297[deg]
+[05/10 21:27:40 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:27:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:27:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:28:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:28:35 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:28:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:30:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:30:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:30:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 2/4: 1 episodes
+[05/10 21:30:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:31:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:31:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:31:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.56s (batch: 5.07s, save: 8.50s)
+[05/10 21:31:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.46s:
+  episode_total: mean=206.78s, total=206.78s, count=1, min=206777.6ms, max=206777.6ms
+  sensor_polling: mean=521.6ms, total=156.47s, count=300, min=440.9ms, max=947.0ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8496.9ms, max=8496.9ms
+  physics_step: mean=25.3ms, total=7.58s, count=300, min=15.9ms, max=78.0ms
+  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5067.8ms, max=5067.8ms
+  task_sampling: mean=463.2ms, total=463.2ms, count=1, min=463.2ms, max=463.2ms
+  task_specific_sample: mean=456.1ms, total=456.1ms, count=1, min=456.1ms, max=456.1ms
+  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  mj_forward_sync: mean=693.8us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=21.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:31:07 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
+[05/10 21:31:07 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
+[05/10 21:31:07 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 13/13 successful episodes
+[05/10 21:31:07 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=5644.10s
+  House averages:
+  episode_total: mean=169.74s, total=3055.39s, count=18, min=424.0ms, max=235744.9ms
+  sensor_polling: mean=519.1ms, total=2263.39s, count=4360, min=427.9ms, max=1281.9ms
+  save_trajectories: mean=9.71s, total=126.22s, count=13, min=8496.9ms, max=11919.7ms
+  physics_step: mean=25.6ms, total=111.70s, count=4360, min=14.7ms, max=126.1ms
+  save_batch_prep: mean=4.58s, total=59.50s, count=13, min=4165.0ms, max=5403.2ms
+  task_sampling: mean=680.7ms, total=11.57s, count=17, min=350.0ms, max=3381.7ms
+  task_specific_sample: mean=501.6ms, total=9.03s, count=18, min=343.5ms, max=865.7ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
+  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
+  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
+  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  scene_randomize: mean=2.7ms, total=48.0ms, count=18, min=1.2ms, max=5.4ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  mj_forward_sync: mean=534.8us, total=9.6ms, count=18, min=0.4ms, max=1.2ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 21:31:07 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 21:31:07 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5644.10s
+  Worker averages:
+  episode_total: mean=169.74s, total=3055.39s, count=18, min=424.0ms, max=235744.9ms
+  sensor_polling: mean=519.1ms, total=2263.39s, count=4360, min=427.9ms, max=1281.9ms
+  save_trajectories: mean=9.71s, total=126.22s, count=13, min=8496.9ms, max=11919.7ms
+  physics_step: mean=25.6ms, total=111.70s, count=4360, min=14.7ms, max=126.1ms
+  save_batch_prep: mean=4.58s, total=59.50s, count=13, min=4165.0ms, max=5403.2ms
+  task_sampling: mean=680.7ms, total=11.57s, count=17, min=350.0ms, max=3381.7ms
+  task_specific_sample: mean=501.6ms, total=9.03s, count=18, min=343.5ms, max=865.7ms
+  scene_load: mean=2.89s, total=2.89s, count=1, min=2886.9ms, max=2886.9ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1795.7ms, max=1795.7ms
+  scene_compile: mean=980.7ms, total=980.7ms, count=1, min=980.7ms, max=980.7ms
+  compile_mujoco: mean=584.8ms, total=584.8ms, count=1, min=584.8ms, max=584.8ms
+  task_sampling_failed: mean=423.9ms, total=423.9ms, count=1, min=423.9ms, max=423.9ms
+  compile_xml_load: mean=326.4ms, total=326.4ms, count=1, min=326.4ms, max=326.4ms
+  scene_init: mean=69.3ms, total=69.3ms, count=1, min=69.3ms, max=69.3ms
+  scene_randomize: mean=2.7ms, total=48.0ms, count=18, min=1.2ms, max=5.4ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  scene_asset_install: mean=41.0ms, total=41.0ms, count=1, min=41.0ms, max=41.0ms
+  asset_install_grasps: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  mj_forward_sync: mean=534.8us, total=9.6ms, count=18, min=0.4ms, max=1.2ms
+  asset_install_objects: mean=9.1ms, total=9.1ms, count=1, min=9.1ms, max=9.1ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=21.4us, total=0.4ms, count=17, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 21:31:10 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 21:31:10 INFO pipeline.py:1491] Success count: 13, Total count: 13
+[05/10 21:31:10 INFO pipeline.py:1492] Success rate: 100.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 2/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_008
+==========================================
diff --git a/fridge_7/chunk_008/shard_3_of_4.log b/fridge_7/chunk_008/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..d4964dd10224940d63c555e5a7d77905eae17532
--- /dev/null
+++ b/fridge_7/chunk_008/shard_3_of_4.log
@@ -0,0 +1,1818 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_008
+  shard=3/4  seed=20803  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:39:40 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 20:39:40 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 20:39:40 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_008'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 20:39:40 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7703667e7490>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20803,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:39:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 20:39:40 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 20:39:40 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 130856484773136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130856484773136 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 130856484773136 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130856484773136 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 130856487908176 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130856487908176 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130856487908112 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130856487908112 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130856487908112 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130856487908112 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130856487908176 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130856487908176 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130856484834512 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130856484834512 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130856484843024 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130856484843024 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 130856484843024 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130856484843024 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130856484834512 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130856484834512 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 20:39:40 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 56cacd8b8db0 at 0x770366d5cc90>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 56cacd8ba880 at 0x770366d702d0>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 56cacd8ba880 at 0x770366cf3090>
+[05/10 20:39:42 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:39:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
+[05/10 20:39:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:39:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:39:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017565m
+[05/10 20:39:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:39:42 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 20:39:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:39:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 96.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.77228617  0.36450351  0.01756466] yaw=167.9deg
+[05/10 20:39:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:39:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.02738909  1.32854016  0.01756466] yaw=-126.5deg
+[05/10 20:39:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:39:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:39:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=13.6ms, retries=189.7ms, total=203.3ms
+[05/10 20:39:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.365, 0.018)
+[05/10 20:39:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg
+[05/10 20:39:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.937m
+[05/10 20:39:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:39:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:39:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:39:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:39:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:39:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.227s
+[05/10 20:40:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:40:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:40:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 20:40:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.472s, found feasible grasp: True
+[05/10 20:40:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.484[m] 87.377[deg]
+[05/10 20:40:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:40:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:41:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:41:15 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:43:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 20:43:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:43:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 20:43:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:43:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 20:43:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:43:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.03s (batch: 3.93s, save: 10.10s)
+[05/10 20:43:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.28s:
+  episode_total: mean=243.41s, total=243.41s, count=1, min=243414.3ms, max=243414.3ms
+  sensor_polling: mean=522.5ms, total=156.76s, count=300, min=441.8ms, max=733.0ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10097.0ms, max=10097.0ms
+  physics_step: mean=27.5ms, total=8.24s, count=300, min=18.0ms, max=65.0ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3934.0ms, max=3934.0ms
+  task_sampling: mean=3.28s, total=3.28s, count=1, min=3284.8ms, max=3284.8ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
+  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
+  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  task_specific_sample: mean=478.6ms, total=478.6ms, count=1, min=478.6ms, max=478.6ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
+  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
+  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms
+  mj_forward_sync: mean=386.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:43:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:43:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:43:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:43:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:43:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:43:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:43:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:43:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:43:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:43:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:43:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)
+[05/10 20:43:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:43:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:43:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.014330m
+[05/10 20:43:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:43:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:43:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78585762  0.6720323   0.01432994] yaw=-178.0deg
+[05/10 20:43:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:43:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.86689258  0.54766652  0.01432994] yaw=-164.7deg
+[05/10 20:43:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:43:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71388448  0.08497337  0.01432994] yaw=153.3deg
+[05/10 20:43:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:43:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:43:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.0ms, total=218.0ms
+[05/10 20:43:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.786, 0.672, 0.014)
+[05/10 20:43:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -178.0 deg
+[05/10 20:43:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.936m
+[05/10 20:43:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:43:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:43:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:43:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:43:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:43:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 20:43:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 20:43:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:43:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:43:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 20:43:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.637s, found feasible grasp: True
+[05/10 20:43:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.477[m] 83.690[deg]
+[05/10 20:43:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:43:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:44:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:46:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:47:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:47:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 20:47:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:47:17 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:47:17 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:47:17 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.29s (batch: 4.76s, save: 11.52s)
+[05/10 20:47:17 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.50s:
+  episode_total: mean=212.61s, total=212.61s, count=1, min=212607.0ms, max=212607.0ms
+  sensor_polling: mean=525.0ms, total=157.49s, count=300, min=452.5ms, max=747.5ms
+  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11523.4ms, max=11523.4ms
+  physics_step: mean=25.2ms, total=7.55s, count=300, min=18.3ms, max=52.8ms
+  save_batch_prep: mean=4.76s, total=4.76s, count=1, min=4762.3ms, max=4762.3ms
+  task_sampling: mean=502.0ms, total=502.0ms, count=1, min=502.0ms, max=502.0ms
+  task_specific_sample: mean=498.1ms, total=498.1ms, count=1, min=498.1ms, max=498.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=429.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=25.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:47:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:47:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:47:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:47:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:47:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:47:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:47:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:47:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:47:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:47:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:47:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
+[05/10 20:47:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:47:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:47:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075274m
+[05/10 20:47:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:47:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:47:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:47:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.90973003  0.30986508  0.0752744 ] yaw=168.9deg
+[05/10 20:47:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:47:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94880968  0.56225182  0.0752744 ] yaw=-165.5deg
+[05/10 20:47:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:47:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.6846533  0.1864349  0.0752744] yaw=161.0deg
+[05/10 20:47:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:47:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:47:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.6ms, total=197.7ms
+[05/10 20:47:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.910, 0.310, 0.075)
+[05/10 20:47:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 168.9 deg
+[05/10 20:47:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.811m
+[05/10 20:47:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:47:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:47:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:47:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:47:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:47:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 20:47:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.078s
+[05/10 20:47:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:47:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:47:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 20:47:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.499s, found feasible grasp: True
+[05/10 20:47:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.338[m] 83.787[deg]
+[05/10 20:47:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:47:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:47:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:47:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:48:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:48:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:48:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:48:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:49:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:49:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:49:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:49:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:49:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:49:09 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:49:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:49:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:49:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 78 non-colliding grasps
+[05/10 20:49:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.382s, found feasible grasp: True
+[05/10 20:49:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.755[deg]
+[05/10 20:49:10 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:49:12 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:49:12 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:49:12 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:49:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:49:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:49:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:49:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:49:12 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:49:12 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:49:12 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:49:12 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)
+[05/10 20:49:12 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:49:12 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:49:12 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002364m
+[05/10 20:49:12 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:49:12 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:49:12 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 125.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:49:12 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72076745  0.13192661  0.00236352] yaw=152.1deg
+[05/10 20:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.94624838  0.35231675  0.00236352] yaw=172.3deg
+[05/10 20:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:49:12 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88263174  0.23825297  0.00236352] yaw=174.2deg
+[05/10 20:49:12 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:49:12 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:49:12 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=279.2ms, total=279.2ms
+[05/10 20:49:12 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.721, 0.132, 0.002)
+[05/10 20:49:12 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.1 deg
+[05/10 20:49:12 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.042m
+[05/10 20:49:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:49:12 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:49:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:49:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:49:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:49:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 20:49:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 20:49:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:49:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:49:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:49:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.526s, found feasible grasp: True
+[05/10 20:49:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.617[m] 97.234[deg]
+[05/10 20:49:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:49:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:49:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:50:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:50:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:50:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:51:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:51:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:51:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:51:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:52:18 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:52:40 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:52:40 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 20:52:40 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:52:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:52:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:52:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.03s (batch: 4.72s, save: 9.31s)
+[05/10 20:52:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s:
+  episode_total: mean=166.92s, total=333.84s, count=2, min=111273.9ms, max=222568.6ms
+  sensor_polling: mean=517.1ms, total=245.10s, count=474, min=440.3ms, max=777.5ms
+  physics_step: mean=26.1ms, total=12.37s, count=474, min=15.4ms, max=70.0ms
+  save_trajectories: mean=9.31s, total=9.31s, count=1, min=9306.0ms, max=9306.0ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4724.8ms, max=4724.8ms
+  task_sampling: mean=531.9ms, total=1.06s, count=2, min=492.4ms, max=571.5ms
+  task_specific_sample: mean=528.4ms, total=1.06s, count=2, min=488.5ms, max=568.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.5ms, max=2.6ms
+  mj_forward_sync: mean=434.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:52:57 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:52:57 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:52:57 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:52:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:52:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:52:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:52:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:52:57 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:52:57 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:52:57 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:52:57 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
+[05/10 20:52:57 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:52:57 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:52:57 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053806m
+[05/10 20:52:57 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:52:57 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:52:57 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:52:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.74697814  0.17920632  0.05380607] yaw=170.6deg
+[05/10 20:52:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:52:57 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:52:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.68632484  0.8800913   0.05380607] yaw=-165.1deg
+[05/10 20:52:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:52:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:52:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.2ms, total=271.3ms
+[05/10 20:52:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.747, 0.179, 0.054)
+[05/10 20:52:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 170.6 deg
+[05/10 20:52:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.002m
+[05/10 20:52:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:52:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:52:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:52:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:52:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:52:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 20:52:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.130s
+[05/10 20:52:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:52:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:52:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps
+[05/10 20:52:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.210s, found feasible grasp: True
+[05/10 20:52:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.571[m] 88.529[deg]
+[05/10 20:52:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:52:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:54:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:55:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:55:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:55:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:55:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:55:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:55:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:55:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:55:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:55:51 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:55:51 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:55:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:55:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:55:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 78 non-colliding grasps
+[05/10 20:55:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.467s, found feasible grasp: True
+[05/10 20:55:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.731[deg]
+[05/10 20:55:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:55:55 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:55:55 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:55:55 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:55:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:55:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:55:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:55:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:55:55 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:55:55 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:55:55 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:55:55 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
+[05/10 20:55:55 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:55:55 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:55:55 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041680m
+[05/10 20:55:55 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:55:55 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:55:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 127.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:55:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:55:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.7361259   0.76446087  0.0416802 ] yaw=-160.7deg
+[05/10 20:55:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:55:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.76330214  0.66265515  0.0416802 ] yaw=-180.2deg
+[05/10 20:55:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:55:56 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:55:56 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=352.9ms, total=352.9ms
+[05/10 20:55:56 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.736, 0.764, 0.042)
+[05/10 20:55:56 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.7 deg
+[05/10 20:55:56 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.007m
+[05/10 20:55:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:55:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:55:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:55:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:55:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:55:56 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 20:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.055s
+[05/10 20:55:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:55:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:55:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:55:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.762s, found feasible grasp: True
+[05/10 20:55:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.563[m] 93.167[deg]
+[05/10 20:55:57 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:57:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:58:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:59:08 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:59:08 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 20:59:08 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:59:22 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:59:22 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:59:22 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.32s (batch: 4.36s, save: 8.96s)
+[05/10 20:59:22 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.18s:
+  episode_total: mean=191.69s, total=383.39s, count=2, min=176533.5ms, max=206856.0ms
+  sensor_polling: mean=515.9ms, total=306.95s, count=595, min=442.3ms, max=897.5ms
+  physics_step: mean=25.6ms, total=15.24s, count=595, min=16.5ms, max=87.9ms
+  save_trajectories: mean=8.96s, total=8.96s, count=1, min=8960.6ms, max=8960.6ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4358.9ms, max=4358.9ms
+  task_sampling: mean=592.5ms, total=1.18s, count=2, min=564.0ms, max=620.9ms
+  task_specific_sample: mean=588.0ms, total=1.18s, count=2, min=559.5ms, max=616.4ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.1ms, max=3.0ms
+  mj_forward_sync: mean=665.6us, total=1.3ms, count=2, min=0.5ms, max=0.8ms
+  policy_setup: mean=22.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:59:24 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:59:24 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:59:24 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:59:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:59:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:59:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:59:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:59:24 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:59:24 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:59:24 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:59:24 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.022m, effective arm-mount z=0.882m (base_body_z=0.022m, pedestal_h=0.860m)
+[05/10 20:59:24 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:59:24 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:59:24 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.022429m
+[05/10 20:59:24 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:59:24 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:59:24 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:59:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.98518954  0.11480278  0.02242917] yaw=152.9deg
+[05/10 20:59:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:59:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 121.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:59:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.62239459  0.68031123  0.02242917] yaw=-180.6deg
+[05/10 20:59:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:59:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:59:24 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:59:24 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.02356828  0.90116622  0.02242917] yaw=-143.7deg
+[05/10 20:59:24 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:59:24 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:59:24 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=214.0ms, total=214.0ms
+[05/10 20:59:24 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.985, 0.115, 0.022)
+[05/10 20:59:24 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 152.9 deg
+[05/10 20:59:24 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.806m
+[05/10 20:59:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:59:24 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:59:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:59:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:59:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:59:25 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 20:59:25 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 20:59:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:59:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:59:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/10 20:59:25 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.539s, found feasible grasp: True
+[05/10 20:59:25 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.380[m] 95.415[deg]
+[05/10 20:59:25 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:59:26 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:59:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:00:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:00:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:00:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:01:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:01:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:01:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:01:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:01:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:01:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:01:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:01:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:01:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:01:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:01:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 21:01:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.424s, found feasible grasp: True
+[05/10 21:01:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.044[deg]
+[05/10 21:01:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:01:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:01:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:01:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:01:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:01:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:01:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:01:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)
+[05/10 21:01:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:01:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:01:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.027318m
+[05/10 21:01:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:01:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:01:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.78261569  0.41651374  0.02731753] yaw=179.7deg
+[05/10 21:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.94307933  0.23508737  0.02731753] yaw=152.7deg
+[05/10 21:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:01:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.95626565  1.09279234  0.02731753] yaw=-149.5deg
+[05/10 21:01:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:01:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:01:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.5ms, total=177.5ms
+[05/10 21:01:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.783, 0.417, 0.027)
+[05/10 21:01:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 179.7 deg
+[05/10 21:01:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.922m
+[05/10 21:01:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:01:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:01:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:01:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:01:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:01:34 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 21:01:34 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.053s
+[05/10 21:01:34 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:01:34 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:01:34 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:01:35 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True
+[05/10 21:01:35 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.475[m] 91.437[deg]
+[05/10 21:01:35 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:02:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:02:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:02:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:04:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:04:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:04:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 21:04:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:05:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:05:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:05:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.82s (batch: 4.82s, save: 8.99s)
+[05/10 21:05:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.97s:
+  episode_total: mean=170.04s, total=340.08s, count=2, min=127662.5ms, max=212415.0ms
+  sensor_polling: mean=537.3ms, total=261.66s, count=487, min=453.5ms, max=932.4ms
+  physics_step: mean=25.8ms, total=12.57s, count=487, min=15.6ms, max=105.4ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8994.1ms, max=8994.1ms
+  save_batch_prep: mean=4.82s, total=4.82s, count=1, min=4821.5ms, max=4821.5ms
+  task_sampling: mean=485.3ms, total=970.7ms, count=2, min=452.0ms, max=518.7ms
+  task_specific_sample: mean=481.5ms, total=963.1ms, count=2, min=448.4ms, max=514.7ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.6ms, max=2.6ms
+  mj_forward_sync: mean=541.6us, total=1.1ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:05:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:05:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:05:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:05:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:05:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:05:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:05:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:05:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:05:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:05:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:05:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)
+[05/10 21:05:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:05:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:05:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084557m
+[05/10 21:05:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:05:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:05:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:05:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.04503367  1.01307581  0.08455656] yaw=-152.1deg
+[05/10 21:05:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:05:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:05:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:05:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:05:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:05:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66509817  0.22701632  0.08455656] yaw=163.0deg
+[05/10 21:05:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:05:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.74879686  0.13037515  0.08455656] yaw=162.7deg
+[05/10 21:05:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:05:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:05:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.9ms
+[05/10 21:05:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.045, 1.013, 0.085)
+[05/10 21:05:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.1 deg
+[05/10 21:05:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.845m
+[05/10 21:05:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:05:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:05:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:05:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:05:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:05:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 21:05:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 21:05:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:05:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:05:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps
+[05/10 21:05:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.553s, found feasible grasp: True
+[05/10 21:05:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.447[m] 92.015[deg]
+[05/10 21:05:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:05:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:05:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:06:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:06:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:07:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:08:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:08:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:08:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:08:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:08:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:08:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:08:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:08:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:08:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 21:08:11 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.547s, found feasible grasp: True
+[05/10 21:08:11 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.395[deg]
+[05/10 21:08:12 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:08:14 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:08:14 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:08:14 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:08:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:08:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:08:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:08:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:08:14 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:08:14 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:08:14 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:08:14 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.082m, effective arm-mount z=0.942m (base_body_z=0.082m, pedestal_h=0.860m)
+[05/10 21:08:14 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:08:14 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:08:14 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.081595m
+[05/10 21:08:14 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:08:14 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:08:14 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:08:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:08:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92635536  0.99444095  0.08159465] yaw=-135.9deg
+[05/10 21:08:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:08:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:08:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:08:14 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:08:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77760671  0.5167301   0.08159465] yaw=-171.4deg
+[05/10 21:08:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:08:14 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91171985  0.26897134  0.08159465] yaw=154.5deg
+[05/10 21:08:14 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:08:14 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:08:14 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=351.4ms, total=351.5ms
+[05/10 21:08:14 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.926, 0.994, 0.082)
+[05/10 21:08:14 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.9 deg
+[05/10 21:08:14 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.930m
+[05/10 21:08:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:08:14 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:08:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:08:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:08:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:08:15 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 21:08:15 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.044s
+[05/10 21:08:15 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:08:15 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:08:15 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 21:08:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.522s, found feasible grasp: True
+[05/10 21:08:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.514[m] 84.727[deg]
+[05/10 21:08:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:08:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:09:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:11:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:11:23 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:11:23 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 21:11:23 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:11:36 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:11:36 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:11:36 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.62s (batch: 4.14s, save: 8.48s)
+[05/10 21:11:37 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=1.07s:
+  episode_total: mean=193.66s, total=387.33s, count=2, min=184509.1ms, max=202820.0ms
+  sensor_polling: mean=519.5ms, total=308.61s, count=594, min=438.4ms, max=989.5ms
+  physics_step: mean=25.8ms, total=15.33s, count=594, min=15.8ms, max=102.6ms
+  save_trajectories: mean=8.48s, total=8.48s, count=1, min=8482.7ms, max=8482.7ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.5ms, max=4138.5ms
+  task_sampling: mean=536.9ms, total=1.07s, count=2, min=451.3ms, max=622.4ms
+  task_specific_sample: mean=533.3ms, total=1.07s, count=2, min=447.3ms, max=619.3ms
+  scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.4ms, max=2.7ms
+  mj_forward_sync: mean=456.6us, total=0.9ms, count=2, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:11:38 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:11:38 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:11:38 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:11:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:11:38 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:11:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:11:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:11:38 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:11:38 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:11:38 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:11:38 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.028m, effective arm-mount z=0.888m (base_body_z=0.028m, pedestal_h=0.860m)
+[05/10 21:11:38 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:11:38 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:11:38 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028374m
+[05/10 21:11:38 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:11:38 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:11:39 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:11:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:11:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.92859034  1.17465887  0.02837406] yaw=-135.7deg
+[05/10 21:11:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:11:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:11:39 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:11:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88348697  1.00175933  0.02837406] yaw=-152.7deg
+[05/10 21:11:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:11:39 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92005848  0.45639897  0.02837406] yaw=168.3deg
+[05/10 21:11:39 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:11:39 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:11:39 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=141.0ms, total=141.0ms
+[05/10 21:11:39 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.175, 0.028)
+[05/10 21:11:39 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -135.7 deg
+[05/10 21:11:39 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.038m
+[05/10 21:11:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:11:39 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:11:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:11:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:11:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:11:39 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 21:11:39 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 21:11:39 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:11:39 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:11:39 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 21:11:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.517s, found feasible grasp: True
+[05/10 21:11:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.650[m] 99.437[deg]
+[05/10 21:11:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:11:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:11:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:12:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:13:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:13:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:14:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:14:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:14:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:14:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:14:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:14:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:14:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:14:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:14:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:14:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:14:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 70 non-colliding grasps
+[05/10 21:14:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 70 grasps in 1.740s, found feasible grasp: False
+[05/10 21:14:19 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 21:14:21 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:14:21 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:14:21 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:14:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:14:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:14:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:14:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:14:21 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:14:21 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:14:21 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:14:21 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.063m, effective arm-mount z=0.923m (base_body_z=0.063m, pedestal_h=0.860m)
+[05/10 21:14:21 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:14:21 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:14:21 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.062896m
+[05/10 21:14:21 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:14:21 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:14:21 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99998044  0.84898364  0.06289584] yaw=-161.7deg
+[05/10 21:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:14:21 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 103.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:14:21 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.0402408   1.10424358  0.06289584] yaw=-147.9deg
+[05/10 21:14:21 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:14:21 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:14:21 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.1ms, total=181.1ms
+[05/10 21:14:21 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.000, 0.849, 0.063)
+[05/10 21:14:21 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.7 deg
+[05/10 21:14:21 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
+[05/10 21:14:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:14:21 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:14:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:14:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:14:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:14:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 21:14:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 21:14:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:14:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:14:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 21:14:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.588s, found feasible grasp: True
+[05/10 21:14:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.381[m] 88.355[deg]
+[05/10 21:14:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:14:23 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:14:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:15:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:15:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:15:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:17:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:17:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:17:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 21:17:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
+[05/10 21:17:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:17:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:17:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.70s (batch: 4.69s, save: 11.01s)
+[05/10 21:17:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.87s:
+  episode_total: mean=183.62s, total=367.25s, count=2, min=161002.4ms, max=206245.9ms
+  sensor_polling: mean=508.0ms, total=287.53s, count=566, min=433.3ms, max=1026.0ms
+  physics_step: mean=24.9ms, total=14.10s, count=566, min=16.6ms, max=110.2ms
+  save_trajectories: mean=11.01s, total=11.01s, count=1, min=11014.1ms, max=11014.1ms
+  save_batch_prep: mean=4.69s, total=4.69s, count=1, min=4688.2ms, max=4688.2ms
+  task_sampling: mean=436.1ms, total=872.2ms, count=2, min=432.8ms, max=439.4ms
+  task_specific_sample: mean=432.2ms, total=864.4ms, count=2, min=428.9ms, max=435.5ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms
+  mj_forward_sync: mean=542.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:17:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:17:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:17:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:17:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:17:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:17:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:17:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:17:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:17:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:17:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:17:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.086m, effective arm-mount z=0.946m (base_body_z=0.086m, pedestal_h=0.860m)
+[05/10 21:17:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:17:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:17:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085704m
+[05/10 21:17:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:17:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:17:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:17:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80090426  0.54350799  0.08570396] yaw=-167.8deg
+[05/10 21:17:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:17:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:17:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:17:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.06586549  1.13886498  0.08570396] yaw=-134.7deg
+[05/10 21:17:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:17:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88294011  1.1718493   0.08570396] yaw=-144.3deg
+[05/10 21:17:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:17:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:17:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.6ms, total=106.6ms
+[05/10 21:17:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.801, 0.544, 0.086)
+[05/10 21:17:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg
+[05/10 21:17:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.904m
+[05/10 21:17:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:17:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:17:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:17:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:17:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:17:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 21:17:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.080s
+[05/10 21:17:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:17:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:17:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 21:17:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.516s, found feasible grasp: True
+[05/10 21:17:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.455[m] 83.621[deg]
+[05/10 21:17:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:17:51 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:17:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:18:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:18:44 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:18:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:20:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:20:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:20:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:20:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:20:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:20:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:20:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:20:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:20:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:20:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:20:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
+[05/10 21:20:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.681s, found feasible grasp: True
+[05/10 21:20:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.155[deg]
+[05/10 21:20:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:20:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:20:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:20:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:20:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:20:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:21:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 21:21:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 21:21:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:21:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:21:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 82 non-colliding grasps
+[05/10 21:21:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 82 grasps in 0.461s, found feasible grasp: True
+[05/10 21:21:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.122[m] 3.023[deg]
+[05/10 21:21:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:21:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:21:14 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=False
+[05/10 21:21:14 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=False episode_total=0.41s:
+  episode_total: mean=204.80s, total=204.80s, count=1, min=204803.2ms, max=204803.2ms
+  sensor_polling: mean=521.2ms, total=156.36s, count=300, min=444.9ms, max=1178.7ms
+  physics_step: mean=23.8ms, total=7.15s, count=300, min=14.5ms, max=92.6ms
+  task_sampling: mean=406.4ms, total=406.4ms, count=1, min=406.4ms, max=406.4ms
+  task_specific_sample: mean=402.6ms, total=402.6ms, count=1, min=402.6ms, max=402.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=411.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:21:16 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:21:16 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:21:16 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:21:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:21:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:21:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:21:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:21:16 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:21:16 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:21:16 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:21:16 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
+[05/10 21:21:16 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:21:16 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:21:16 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084384m
+[05/10 21:21:16 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:21:16 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:21:16 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:21:16 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:21:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.15947316  1.0270769   0.08438421] yaw=-123.6deg
+[05/10 21:21:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:21:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.03280565  0.96791015  0.08438421] yaw=-148.3deg
+[05/10 21:21:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:21:16 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.82566816  0.8953798   0.08438421] yaw=-153.7deg
+[05/10 21:21:16 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:21:16 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:21:16 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.4ms, total=155.5ms
+[05/10 21:21:16 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.159, 1.027, 0.084)
+[05/10 21:21:16 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -123.6 deg
+[05/10 21:21:16 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.769m
+[05/10 21:21:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:21:16 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:21:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:21:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:21:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:21:16 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 21:21:16 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.052s
+[05/10 21:21:16 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:21:16 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:21:16 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 21:21:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.607s, found feasible grasp: True
+[05/10 21:21:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.343[m] 85.174[deg]
+[05/10 21:21:17 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:21:17 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:21:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:21:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:22:00 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:22:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:23:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:23:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:23:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:23:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:23:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:23:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:23:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:23:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:23:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:23:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
+[05/10 21:24:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.781s, found feasible grasp: True
+[05/10 21:24:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.351[deg]
+[05/10 21:24:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:24:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:24:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:24:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:24:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:24:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:24:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:24:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:24:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:24:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:24:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:24:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.075m, effective arm-mount z=0.935m (base_body_z=0.075m, pedestal_h=0.860m)
+[05/10 21:24:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:24:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:24:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.075062m
+[05/10 21:24:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:24:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:24:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 113.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.8577659   1.09722795  0.07506166] yaw=-133.8deg
+[05/10 21:24:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:24:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:24:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=265.0ms, total=265.0ms
+[05/10 21:24:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.858, 1.097, 0.075)
+[05/10 21:24:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg
+[05/10 21:24:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.045m
+[05/10 21:24:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:24:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:24:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:24:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:24:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:24:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 21:24:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.054s
+[05/10 21:24:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:24:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:24:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 21:24:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.793s, found feasible grasp: True
+[05/10 21:24:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.644[m] 98.074[deg]
+[05/10 21:24:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:24:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:24:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:25:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:25:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:25:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:26:51 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:27:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:27:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 21:27:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:27:33 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:27:33 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:27:33 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.40s (batch: 4.42s, save: 8.99s)
+[05/10 21:27:34 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.96s:
+  episode_total: mean=188.01s, total=376.01s, count=2, min=166513.4ms, max=209497.4ms
+  sensor_polling: mean=516.7ms, total=293.98s, count=569, min=427.4ms, max=1005.5ms
+  physics_step: mean=25.1ms, total=14.26s, count=569, min=16.1ms, max=121.8ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8988.1ms, max=8988.1ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4415.3ms, max=4415.3ms
+  task_sampling: mean=477.8ms, total=955.7ms, count=2, min=425.4ms, max=530.2ms
+  task_specific_sample: mean=474.4ms, total=948.8ms, count=2, min=422.2ms, max=526.5ms
+  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.3ms, max=1.4ms
+  mj_forward_sync: mean=414.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:27:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:27:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:27:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:27:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:27:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:27:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:27:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:27:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:27:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:27:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:27:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
+[05/10 21:27:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:27:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:27:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058430m
+[05/10 21:27:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:27:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:27:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:27:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:27:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.1735197   1.05309213  0.05843003] yaw=-130.2deg
+[05/10 21:27:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:27:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89298718  1.01973276  0.05843003] yaw=-151.6deg
+[05/10 21:27:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:27:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:27:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.4ms
+[05/10 21:27:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.174, 1.053, 0.058)
+[05/10 21:27:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.2 deg
+[05/10 21:27:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.778m
+[05/10 21:27:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:27:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:27:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:27:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:27:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:27:36 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 21:27:36 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.128s
+[05/10 21:27:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:27:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:27:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 21:27:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.124s, found feasible grasp: True
+[05/10 21:27:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.409[m] 96.189[deg]
+[05/10 21:27:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:27:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:28:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:28:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:30:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:30:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:30:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:30:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:30:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:30:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:30:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:30:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:30:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:30:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:30:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.183s, found 76 non-colliding grasps
+[05/10 21:30:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.817s, found feasible grasp: True
+[05/10 21:30:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.291[deg]
+[05/10 21:30:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:30:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:30:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:30:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:30:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:30:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:30:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:30:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:30:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:30:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:30:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
+[05/10 21:30:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:30:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:30:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046440m
+[05/10 21:30:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:30:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:30:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:30:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:30:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.02673665  1.28532242  0.04644041] yaw=-131.3deg
+[05/10 21:30:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:30:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.85446516  0.88461746  0.04644041] yaw=-154.0deg
+[05/10 21:30:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:30:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94417356  0.4660807   0.04644041] yaw=176.7deg
+[05/10 21:30:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:30:28 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:30:28 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=265.4ms, total=265.4ms
+[05/10 21:30:28 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.027, 1.285, 0.046)
+[05/10 21:30:28 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -131.3 deg
+[05/10 21:30:28 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.050m
+[05/10 21:30:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:30:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:30:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:30:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:30:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:30:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 21:30:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 21:30:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:30:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:30:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 21:30:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.190s, found feasible grasp: True
+[05/10 21:30:32 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 16 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 538, in compute_grasp_pose
+    original_grasp_idx = grasp_idx % (len(grasp_poses_world) // 2)
+                         ~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+TypeError: unsupported operand type(s) for %: 'NoneType' and 'int'
+[05/10 21:30:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:30:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:30:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:30:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
+[05/10 21:30:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:30:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:30:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.038485m
+[05/10 21:30:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:30:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:30:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:30:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96042765  1.03971419  0.03848463] yaw=-152.7deg
+[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.00166828  1.14633781  0.03848463] yaw=-127.7deg
+[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:30:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64956227  0.33866036  0.03848463] yaw=183.0deg
+[05/10 21:30:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:30:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:30:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=438.8ms, total=438.8ms
+[05/10 21:30:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.960, 1.040, 0.038)
+[05/10 21:30:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.7 deg
+[05/10 21:30:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.928m
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:30:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:30:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:30:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 21:30:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
+[05/10 21:30:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:30:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:30:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 21:30:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 4.301s, found feasible grasp: True
+[05/10 21:30:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.507[m] 90.265[deg]
+[05/10 21:30:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:30:40 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:30:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:31:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:31:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:31:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:33:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:33:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:33:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:33:44 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:33:44 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 3/4: 1 episodes
+[05/10 21:33:44 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:33:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:33:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:33:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.18s (batch: 3.74s, save: 8.44s)
+[05/10 21:33:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=1.86s:
+  episode_total: mean=125.61s, total=376.84s, count=3, min=4892.0ms, max=202260.0ms
+  sensor_polling: mean=503.3ms, total=286.38s, count=569, min=429.8ms, max=1206.2ms
+  physics_step: mean=24.5ms, total=13.93s, count=569, min=15.8ms, max=101.2ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8439.5ms, max=8439.5ms
+  save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3744.9ms, max=3744.9ms
+  task_sampling: mean=618.5ms, total=1.86s, count=3, min=535.3ms, max=776.0ms
+  task_specific_sample: mean=614.4ms, total=1.84s, count=3, min=531.1ms, max=771.6ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.6ms, max=2.8ms
+  mj_forward_sync: mean=551.8us, total=1.7ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=16.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 21:33:58 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
+[05/10 21:33:58 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
+[05/10 21:33:58 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 9/10 successful episodes
+[05/10 21:33:58 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 9/10 successful, 10 episodes, total_time=5960.45s
+  House averages:
+  episode_total: mean=179.20s, total=3225.56s, count=18, min=4892.0ms, max=243414.3ms
+  sensor_polling: mean=517.6ms, total=2460.83s, count=4754, min=427.4ms, max=1206.2ms
+  physics_step: mean=25.4ms, total=120.74s, count=4754, min=14.5ms, max=121.8ms
+  save_trajectories: mean=9.53s, total=85.81s, count=9, min=8439.5ms, max=11523.4ms
+  save_batch_prep: mean=4.40s, total=39.59s, count=9, min=3744.9ms, max=4821.5ms
+  task_sampling: mean=676.1ms, total=12.17s, count=18, min=406.4ms, max=3284.8ms
+  task_specific_sample: mean=516.5ms, total=9.30s, count=18, min=402.6ms, max=771.6ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
+  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
+  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
+  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
+  mj_forward_sync: mean=499.5us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 21:33:58 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 21:33:58 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 10 episodes, total_time=5960.45s
+  Worker averages:
+  episode_total: mean=179.20s, total=3225.56s, count=18, min=4892.0ms, max=243414.3ms
+  sensor_polling: mean=517.6ms, total=2460.83s, count=4754, min=427.4ms, max=1206.2ms
+  physics_step: mean=25.4ms, total=120.74s, count=4754, min=14.5ms, max=121.8ms
+  save_trajectories: mean=9.53s, total=85.81s, count=9, min=8439.5ms, max=11523.4ms
+  save_batch_prep: mean=4.40s, total=39.59s, count=9, min=3744.9ms, max=4821.5ms
+  task_sampling: mean=676.1ms, total=12.17s, count=18, min=406.4ms, max=3284.8ms
+  task_specific_sample: mean=516.5ms, total=9.30s, count=18, min=402.6ms, max=771.6ms
+  scene_load: mean=2.80s, total=2.80s, count=1, min=2803.6ms, max=2803.6ms
+  scene_env_create: mean=1.96s, total=1.96s, count=1, min=1956.7ms, max=1956.7ms
+  scene_compile: mean=730.5ms, total=730.5ms, count=1, min=730.5ms, max=730.5ms
+  compile_mujoco: mean=532.5ms, total=532.5ms, count=1, min=532.5ms, max=532.5ms
+  compile_xml_load: mean=140.7ms, total=140.7ms, count=1, min=140.7ms, max=140.7ms
+  scene_init: mean=64.3ms, total=64.3ms, count=1, min=64.3ms, max=64.3ms
+  scene_asset_install: mean=51.8ms, total=51.8ms, count=1, min=51.8ms, max=51.8ms
+  compile_aux_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  compile_aux_policy_objects: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  scene_randomize: mean=2.0ms, total=36.7ms, count=18, min=1.1ms, max=3.0ms
+  asset_install_grasps: mean=36.2ms, total=36.2ms, count=1, min=36.2ms, max=36.2ms
+  asset_install_objects: mean=13.0ms, total=13.0ms, count=1, min=13.0ms, max=13.0ms
+  mj_forward_sync: mean=499.5us, total=9.0ms, count=18, min=0.4ms, max=0.8ms
+  compile_robot_add: mean=6.4ms, total=6.4ms, count=1, min=6.4ms, max=6.4ms
+  asset_install_scene: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  policy_setup: mean=20.5us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 21:34:01 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 21:34:01 INFO pipeline.py:1491] Success count: 9, Total count: 10
+[05/10 21:34:01 INFO pipeline.py:1492] Success rate: 90.00%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 3/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_008
+==========================================
diff --git a/fridge_7/chunk_008/shard_4_of_4.log b/fridge_7/chunk_008/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..6ccc232c8e809ff83bd5d1de879afa8d59246ad8
--- /dev/null
+++ b/fridge_7/chunk_008/shard_4_of_4.log
@@ -0,0 +1,1783 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_008
+  shard=4/4  seed=20804  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:39:39 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 20:39:39 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 20:39:39 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_008'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 20:39:39 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_008'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7cb5dd7c4e10>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20804,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 20:39:39 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 20:39:39 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 137120544140432 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 137120544140432 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 137120544140432 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 137120544140432 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 137120549172944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 137120549172944 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 137120549173328 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 137120549173328 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 137120549173328 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 137120549173328 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 137120549172944 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 137120549172944 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 137120542231312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 137120542231312 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 137120542232592 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 137120542232592 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 137120542232592 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 137120542232592 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 137120542231312 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 137120542231312 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 20:39:39 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c5e8bb29240 at 0x7cb5ddb97ad0>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c5e8bb2ad70 at 0x7cb5ddba7310>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c5e8bb2ad70 at 0x7cb5ddd29f50>
+[05/10 20:39:42 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 20:39:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:39:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:39:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)
+[05/10 20:39:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:39:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:39:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091023m
+[05/10 20:39:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:39:42 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 20:39:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.65072881  0.60037137  0.09102282] yaw=-169.0deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73550156 -0.00800756  0.09102282] yaw=163.6deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:39:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.04409002  0.99226242  0.09102282] yaw=-135.2deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:39:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:39:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=50.0ms, retries=159.0ms, total=209.0ms
+[05/10 20:39:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.651, 0.600, 0.091)
+[05/10 20:39:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -169.0 deg
+[05/10 20:39:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.058m
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:39:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:39:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 20:40:11 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.992s
+[05/10 20:40:11 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:40:11 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:40:11 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 20:40:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True
+[05/10 20:40:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.619[m] 90.188[deg]
+[05/10 20:40:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:40:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:41:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:41:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:41:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:42:59 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 20:43:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:43:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 20:43:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:43:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 20:43:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:43:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.23s (batch: 4.21s, save: 9.02s)
+[05/10 20:43:33 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.34s:
+  episode_total: mean=233.66s, total=233.66s, count=1, min=233657.1ms, max=233657.1ms
+  sensor_polling: mean=516.3ms, total=154.89s, count=300, min=444.2ms, max=769.9ms
+  save_trajectories: mean=9.02s, total=9.02s, count=1, min=9021.0ms, max=9021.0ms
+  physics_step: mean=24.9ms, total=7.47s, count=300, min=15.4ms, max=59.6ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4207.6ms, max=4207.6ms
+  task_sampling: mean=3.34s, total=3.34s, count=1, min=3341.8ms, max=3341.8ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
+  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
+  task_specific_sample: mean=566.8ms, total=566.8ms, count=1, min=566.8ms, max=566.8ms
+  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
+  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
+  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
+  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=612.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:43:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:43:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:43:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:43:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)
+[05/10 20:43:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:43:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:43:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068651m
+[05/10 20:43:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:43:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:43:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.17742087  1.12913449  0.06865121] yaw=-133.1deg
+[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.07263019  0.90377786  0.06865121] yaw=-136.4deg
+[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 114.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:43:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.64420704  0.20664363  0.06865121] yaw=161.3deg
+[05/10 20:43:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:43:34 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:43:34 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.0ms, total=170.1ms
+[05/10 20:43:34 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.177, 1.129, 0.069)
+[05/10 20:43:34 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.1 deg
+[05/10 20:43:34 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.833m
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:43:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:43:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:43:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 20:43:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.070s
+[05/10 20:43:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:43:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:43:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 20:43:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.721s, found feasible grasp: True
+[05/10 20:43:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.412[m] 89.620[deg]
+[05/10 20:43:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:43:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:43:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:44:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:44:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:44:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:45:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:45:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:45:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:45:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:45:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:45:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:45:59 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:45:59 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:45:59 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 76 non-colliding grasps
+[05/10 20:46:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.509s, found feasible grasp: True
+[05/10 20:46:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]
+[05/10 20:46:02 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:46:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:46:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:46:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:46:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:46:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:46:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:46:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:46:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:46:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:46:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
+[05/10 20:46:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:46:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:46:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046823m
+[05/10 20:46:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:46:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:46:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.0010862   0.13483183  0.04682255] yaw=153.4deg
+[05/10 20:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71867189  0.82499998  0.04682255] yaw=-150.1deg
+[05/10 20:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:46:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:46:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.81371373  0.09959363  0.04682255] yaw=163.9deg
+[05/10 20:46:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:46:04 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:46:04 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=293.8ms, total=293.8ms
+[05/10 20:46:04 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.001, 0.135, 0.047)
+[05/10 20:46:04 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 153.4 deg
+[05/10 20:46:04 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.782m
+[05/10 20:46:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:46:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:46:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:46:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:46:04 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 20:46:04 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.049s
+[05/10 20:46:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:46:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:46:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:46:05 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.480s, found feasible grasp: True
+[05/10 20:46:05 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.316[m] 89.345[deg]
+[05/10 20:46:05 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:46:05 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:46:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:46:49 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:46:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:47:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:47:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:47:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:47:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:47:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:47:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:47:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:47:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:47:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:47:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:47:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 78 non-colliding grasps
+[05/10 20:47:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.494s, found feasible grasp: True
+[05/10 20:47:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.384[deg]
+[05/10 20:47:51 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:47:52 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:47:52 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:47:52 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:47:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:47:52 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:47:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:47:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:47:52 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:47:52 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:47:52 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:47:52 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)
+[05/10 20:47:52 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:47:52 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:47:52 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056367m
+[05/10 20:47:52 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:47:52 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:47:52 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:47:52 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.85209503  1.04861758  0.05636708] yaw=-149.7deg
+[05/10 20:47:52 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:47:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:52 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:47:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00464532  0.87081111  0.05636708] yaw=-161.4deg
+[05/10 20:47:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:47:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.9219073   0.61030998  0.05636708] yaw=-164.8deg
+[05/10 20:47:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:47:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:47:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.6ms, total=169.7ms
+[05/10 20:47:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.852, 1.049, 0.056)
+[05/10 20:47:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -149.7 deg
+[05/10 20:47:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.022m
+[05/10 20:47:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:47:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:47:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:47:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:47:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:47:53 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 20:47:53 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
+[05/10 20:47:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:47:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:47:53 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 20:47:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.718s, found feasible grasp: True
+[05/10 20:47:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.644[m] 94.824[deg]
+[05/10 20:47:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:47:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:47:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:49:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:49:14 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:49:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:49:19 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 20:49:19 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:49:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:49:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:49:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
+[05/10 20:49:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.470s, found feasible grasp: True
+[05/10 20:49:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.579[deg]
+[05/10 20:49:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:49:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:49:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:49:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:49:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:49:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:50:38 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=False
+[05/10 20:50:38 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=False episode_total=1.44s:
+  episode_total: mean=139.88s, total=419.65s, count=3, min=106986.1ms, max=165177.7ms
+  sensor_polling: mean=514.3ms, total=360.49s, count=701, min=440.7ms, max=817.5ms
+  physics_step: mean=25.4ms, total=17.84s, count=701, min=16.1ms, max=78.5ms
+  task_sampling: mean=481.2ms, total=1.44s, count=3, min=442.6ms, max=545.8ms
+  task_specific_sample: mean=477.5ms, total=1.43s, count=3, min=438.6ms, max=542.4ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.4ms, max=2.2ms
+  mj_forward_sync: mean=515.3us, total=1.5ms, count=3, min=0.5ms, max=0.6ms
+  policy_setup: mean=23.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 20:50:40 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:50:40 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:50:40 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:50:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:50:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:50:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:50:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:50:40 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:50:40 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:50:40 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:50:40 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.041m, effective arm-mount z=0.901m (base_body_z=0.041m, pedestal_h=0.860m)
+[05/10 20:50:40 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:50:40 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:50:40 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040730m
+[05/10 20:50:40 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:50:40 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:50:40 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:50:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.89180579  0.63198084  0.04073012] yaw=-162.3deg
+[05/10 20:50:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:50:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:50:40 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:50:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7621687   0.35418779  0.04073012] yaw=163.0deg
+[05/10 20:50:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:50:40 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.03914093  0.8408638   0.04073012] yaw=-144.2deg
+[05/10 20:50:40 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:50:40 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:50:40 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.8ms, total=137.9ms
+[05/10 20:50:40 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.892, 0.632, 0.041)
+[05/10 20:50:40 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -162.3 deg
+[05/10 20:50:40 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.824m
+[05/10 20:50:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:50:40 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:50:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:50:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:50:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:50:40 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 20:50:40 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 20:50:40 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:50:40 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:50:40 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 20:50:41 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.661s, found feasible grasp: True
+[05/10 20:50:41 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.372[m] 87.704[deg]
+[05/10 20:50:41 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:50:41 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:50:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:51:32 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:53:24 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:53:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:53:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 20:53:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 297 timesteps
+[05/10 20:54:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:54:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:54:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 14.72s (batch: 4.81s, save: 9.91s)
+[05/10 20:54:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.48s:
+  episode_total: mean=205.32s, total=205.32s, count=1, min=205324.3ms, max=205324.3ms
+  sensor_polling: mean=510.5ms, total=151.12s, count=296, min=446.0ms, max=842.5ms
+  save_trajectories: mean=9.91s, total=9.91s, count=1, min=9906.6ms, max=9906.6ms
+  physics_step: mean=25.4ms, total=7.53s, count=296, min=18.3ms, max=80.5ms
+  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4810.0ms, max=4810.0ms
+  task_sampling: mean=477.9ms, total=477.9ms, count=1, min=477.9ms, max=477.9ms
+  task_specific_sample: mean=473.9ms, total=473.9ms, count=1, min=473.9ms, max=473.9ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=578.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 20:54:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:54:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:54:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:54:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:54:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:54:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:54:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:54:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:54:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:54:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:54:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)
+[05/10 20:54:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:54:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:54:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046911m
+[05/10 20:54:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:54:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:54:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:54:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:54:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03536392  1.13132931  0.04691121] yaw=-126.3deg
+[05/10 20:54:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:54:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06883586  0.95956311  0.04691121] yaw=-144.1deg
+[05/10 20:54:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:54:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 94.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:54:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:54:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.72163823  0.60130932  0.04691121] yaw=-178.8deg
+[05/10 20:54:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:54:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:54:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.4ms, total=195.5ms
+[05/10 20:54:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.035, 1.131, 0.047)
+[05/10 20:54:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -126.3 deg
+[05/10 20:54:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.931m
+[05/10 20:54:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:54:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:54:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:54:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:54:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:54:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 20:54:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.089s
+[05/10 20:54:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:54:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:54:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps
+[05/10 20:54:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.851s, found feasible grasp: True
+[05/10 20:54:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.498[m] 86.020[deg]
+[05/10 20:54:11 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 20:54:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:54:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:54:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:54:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:54:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:54:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:54:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:54:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:54:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:54:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:54:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
+[05/10 20:54:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:54:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:54:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000473m
+[05/10 20:54:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:54:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:54:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:54:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 92.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:54:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-9.50799336e-01  3.34986438e-01  4.73153184e-04] yaw=174.8deg
+[05/10 20:54:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:54:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:54:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-9.46457222e-01  1.06760212e-01  4.73153184e-04] yaw=151.4deg
+[05/10 20:54:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:54:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:54:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-7.07956947e-01  9.32820431e-01  4.73153184e-04] yaw=-157.4deg
+[05/10 20:54:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:54:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:54:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=311.7ms, total=311.7ms
+[05/10 20:54:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.951, 0.335, 0.000)
+[05/10 20:54:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg
+[05/10 20:54:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.766m
+[05/10 20:54:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:54:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:54:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:54:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:54:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:54:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 20:54:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
+[05/10 20:54:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:54:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:54:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 20:54:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.084s, found feasible grasp: True
+[05/10 20:54:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.337[m] 94.904[deg]
+[05/10 20:54:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:54:15 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:54:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:54:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:55:03 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:55:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:55:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:55:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:55:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 20:55:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 20:55:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 20:55:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 20:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 20:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 20:55:55 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 20:55:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:55:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:55:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps
+[05/10 20:55:56 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.649s, found feasible grasp: True
+[05/10 20:55:56 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.580[deg]
+[05/10 20:55:56 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:55:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:55:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 20:56:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 20:56:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 20:56:12 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:56:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:56:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 20:57:25 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 20:57:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:57:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 20:57:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 20:58:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 20:58:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 20:58:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.00s (batch: 4.89s, save: 11.11s)
+[05/10 20:58:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.17s:
+  episode_total: mean=118.94s, total=237.87s, count=2, min=4011.8ms, max=233859.0ms
+  sensor_polling: mean=529.2ms, total=158.76s, count=300, min=452.6ms, max=946.7ms
+  save_trajectories: mean=11.11s, total=11.11s, count=1, min=11107.9ms, max=11107.9ms
+  physics_step: mean=27.0ms, total=8.09s, count=300, min=15.1ms, max=109.1ms
+  save_batch_prep: mean=4.89s, total=4.89s, count=1, min=4888.6ms, max=4888.6ms
+  task_sampling: mean=583.2ms, total=1.17s, count=2, min=569.1ms, max=597.2ms
+  task_specific_sample: mean=579.6ms, total=1.16s, count=2, min=565.5ms, max=593.6ms
+  scene_randomize: mean=2.0ms, total=3.9ms, count=2, min=1.5ms, max=2.4ms
+  mj_forward_sync: mean=473.6us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 20:58:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 20:58:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 20:58:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 20:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:58:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:58:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 20:58:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 20:58:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 20:58:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
+[05/10 20:58:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 20:58:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 20:58:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058236m
+[05/10 20:58:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 20:58:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 20:58:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 20:58:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.8177581   0.64753227  0.05823607] yaw=-180.5deg
+[05/10 20:58:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 20:58:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:58:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:58:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:58:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 20:58:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90228462  1.1897263   0.05823607] yaw=-142.9deg
+[05/10 20:58:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 20:58:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.06716775  1.06635453  0.05823607] yaw=-126.6deg
+[05/10 20:58:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 20:58:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 20:58:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=177.4ms, total=177.4ms
+[05/10 20:58:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.818, 0.648, 0.058)
+[05/10 20:58:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -180.5 deg
+[05/10 20:58:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.900m
+[05/10 20:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 20:58:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 20:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 20:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 20:58:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 20:58:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 20:58:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 20:58:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 20:58:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 20:58:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 20:58:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.489s, found feasible grasp: True
+[05/10 20:58:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.468[m] 92.401[deg]
+[05/10 20:58:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 20:58:10 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 20:58:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 20:58:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 20:59:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 20:59:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:01:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:01:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:01:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:01:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:01:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:01:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:01:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.09s (batch: 4.17s, save: 8.92s)
+[05/10 21:01:40 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.48s:
+  episode_total: mean=212.38s, total=212.38s, count=1, min=212377.7ms, max=212377.7ms
+  sensor_polling: mean=529.0ms, total=158.70s, count=300, min=448.9ms, max=1008.7ms
+  save_trajectories: mean=8.92s, total=8.92s, count=1, min=8919.5ms, max=8919.5ms
+  physics_step: mean=27.6ms, total=8.28s, count=300, min=16.0ms, max=114.8ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4172.1ms, max=4172.1ms
+  task_sampling: mean=475.4ms, total=475.4ms, count=1, min=475.4ms, max=475.4ms
+  task_specific_sample: mean=471.6ms, total=471.6ms, count=1, min=471.6ms, max=471.6ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=425.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:01:42 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:01:42 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:01:42 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:01:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:01:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:01:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:01:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:01:42 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:01:42 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:01:42 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:01:42 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
+[05/10 21:01:42 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:01:42 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:01:42 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053779m
+[05/10 21:01:42 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:01:42 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:01:42 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:01:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.71426318  0.9031508   0.05377874] yaw=-160.2deg
+[05/10 21:01:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:01:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96256052  0.08776028  0.05377874] yaw=148.0deg
+[05/10 21:01:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:01:42 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 107.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:42 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.75222253  0.66826684  0.05377874] yaw=-173.5deg
+[05/10 21:01:42 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:01:42 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:01:42 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms
+[05/10 21:01:42 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.714, 0.903, 0.054)
+[05/10 21:01:42 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -160.2 deg
+[05/10 21:01:42 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.074m
+[05/10 21:01:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:01:42 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:01:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:01:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:01:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:01:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 21:01:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 21:01:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:01:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:01:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 21:01:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.778s, found feasible grasp: True
+[05/10 21:01:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 203 (originally 88): w/ 0.653[m] 88.589[deg]
+[05/10 21:01:47 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:01:49 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:01:49 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:01:49 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:01:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:01:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:01:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:01:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:01:49 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:01:49 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:01:49 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:01:49 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 21:01:49 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:01:49 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:01:49 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040283m
+[05/10 21:01:49 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:01:49 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:01:49 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:01:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.98872619  1.29691195  0.04028312] yaw=-136.1deg
+[05/10 21:01:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:01:49 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81060443  0.69824669  0.04028312] yaw=-176.0deg
+[05/10 21:01:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:01:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77912568  0.04698068  0.04028312] yaw=166.1deg
+[05/10 21:01:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:01:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:01:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.2ms
+[05/10 21:01:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.989, 1.297, 0.040)
+[05/10 21:01:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -136.1 deg
+[05/10 21:01:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
+[05/10 21:01:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:01:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:01:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:01:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:01:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:01:50 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 21:01:50 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.059s
+[05/10 21:01:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:01:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:01:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:01:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.634s, found feasible grasp: False
+[05/10 21:01:51 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: No feasible grasp found
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 80, in _compute_target_poses
+    grasp_pose_world = compute_grasp_pose(
+                       ^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/utils/grasp_sample.py", line 536, in compute_grasp_pose
+    raise ValueError("No feasible grasp found")
+ValueError: No feasible grasp found
+[05/10 21:01:53 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:01:53 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:01:53 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:01:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:01:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:01:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:01:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:01:53 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:01:53 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:01:53 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:01:53 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.030m, effective arm-mount z=0.890m (base_body_z=0.030m, pedestal_h=0.860m)
+[05/10 21:01:53 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:01:53 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:01:53 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.029912m
+[05/10 21:01:53 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:01:53 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:01:53 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.82666199  0.0457798   0.02991188] yaw=142.1deg
+[05/10 21:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:53 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.00473511  1.14395742  0.02991188] yaw=-146.2deg
+[05/10 21:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:01:53 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92932902  0.73246732  0.02991188] yaw=-167.1deg
+[05/10 21:01:53 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:01:53 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:01:53 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.9ms, total=192.9ms
+[05/10 21:01:53 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.827, 0.046, 0.030)
+[05/10 21:01:53 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg
+[05/10 21:01:53 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.978m
+[05/10 21:01:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:01:53 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:01:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:01:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:01:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:01:54 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 21:01:54 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.051s
+[05/10 21:01:54 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:01:54 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:01:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 88 non-colliding grasps
+[05/10 21:01:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.673s, found feasible grasp: True
+[05/10 21:01:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.556[m] 87.567[deg]
+[05/10 21:01:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:01:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:02:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:03:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:04:50 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:05:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:05:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:05:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:05:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:05:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:05:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.49s (batch: 4.10s, save: 8.38s)
+[05/10 21:05:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 10 house 1 success=True episode_total=1.47s:
+  episode_total: mean=72.99s, total=218.97s, count=3, min=2323.8ms, max=211261.8ms
+  sensor_polling: mean=541.8ms, total=162.53s, count=300, min=452.3ms, max=1056.4ms
+  save_trajectories: mean=8.38s, total=8.38s, count=1, min=8382.9ms, max=8382.9ms
+  physics_step: mean=26.1ms, total=7.84s, count=300, min=18.6ms, max=112.0ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4104.9ms, max=4104.9ms
+  task_sampling: mean=489.8ms, total=1.47s, count=3, min=445.5ms, max=578.5ms
+  task_specific_sample: mean=486.5ms, total=1.46s, count=3, min=441.3ms, max=575.4ms
+  scene_randomize: mean=1.8ms, total=5.3ms, count=3, min=1.2ms, max=2.8ms
+  mj_forward_sync: mean=452.4us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+[05/10 21:05:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:05:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:05:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:05:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:05:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:05:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:05:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:05:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:05:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:05:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:05:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.073m, effective arm-mount z=0.933m (base_body_z=0.073m, pedestal_h=0.860m)
+[05/10 21:05:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:05:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:05:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.072848m
+[05/10 21:05:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:05:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:05:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88153064  0.1341821   0.07284762] yaw=158.5deg
+[05/10 21:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:05:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.72321941  0.94448097  0.07284762] yaw=-158.3deg
+[05/10 21:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:05:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76383359  0.44076633  0.07284762] yaw=170.8deg
+[05/10 21:05:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:05:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:05:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms
+[05/10 21:05:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.134, 0.073)
+[05/10 21:05:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.5 deg
+[05/10 21:05:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m
+[05/10 21:05:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:05:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:05:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:05:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:05:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:05:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 21:05:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 21:05:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:05:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:05:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 21:05:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.063s, found feasible grasp: True
+[05/10 21:05:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.452[m] 91.162[deg]
+[05/10 21:05:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:05:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:05:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:06:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:06:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:06:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:07:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:07:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:07:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:07:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:07:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:07:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:07:57 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:07:57 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:07:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:07:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:07:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps
+[05/10 21:07:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.008s, found feasible grasp: True
+[05/10 21:07:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.541[deg]
+[05/10 21:08:00 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:08:01 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:08:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:08:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:08:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:08:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:08:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:08:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:08:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 21:08:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:08:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:08:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.108s, found 78 non-colliding grasps
+[05/10 21:08:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.360s, found feasible grasp: True
+[05/10 21:08:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.047[m] 0.500[deg]
+[05/10 21:08:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:08:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:08:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:08:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:08:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:08:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:08:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:08:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:08:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:08:33 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:08:43 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:09:01 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:09:27 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:09:27 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:09:27 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:09:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:09:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:09:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 15.91s (batch: 5.11s, save: 10.81s)
+[05/10 21:09:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 11 house 1 success=True episode_total=0.47s:
+  episode_total: mean=257.86s, total=257.86s, count=1, min=257855.6ms, max=257855.6ms
+  sensor_polling: mean=542.6ms, total=162.78s, count=300, min=454.5ms, max=1055.2ms
+  save_trajectories: mean=10.81s, total=10.81s, count=1, min=10808.1ms, max=10808.1ms
+  physics_step: mean=26.8ms, total=8.05s, count=300, min=14.1ms, max=127.5ms
+  save_batch_prep: mean=5.11s, total=5.11s, count=1, min=5105.8ms, max=5105.8ms
+  task_sampling: mean=468.6ms, total=468.6ms, count=1, min=468.6ms, max=468.6ms
+  task_specific_sample: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=409.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:09:46 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:09:46 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:09:46 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:09:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:09:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:09:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:09:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:09:46 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:09:46 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:09:46 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:09:46 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)
+[05/10 21:09:46 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:09:46 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:09:46 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053661m
+[05/10 21:09:46 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:09:46 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:09:46 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:09:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.82116156  0.33465716  0.05366126] yaw=177.5deg
+[05/10 21:09:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:09:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 124.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:09:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70464471  0.54473044  0.05366126] yaw=-179.9deg
+[05/10 21:09:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:09:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94714801  1.03460657  0.05366126] yaw=-144.1deg
+[05/10 21:09:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:09:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:09:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.1ms, total=119.2ms
+[05/10 21:09:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.821, 0.335, 0.054)
+[05/10 21:09:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 177.5 deg
+[05/10 21:09:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.893m
+[05/10 21:09:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:09:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:09:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:09:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:09:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:09:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 12/18 collected=0/3
+[05/10 21:09:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.104s
+[05/10 21:09:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:09:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:09:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 21:09:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.501s, found feasible grasp: True
+[05/10 21:09:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.501[m] 95.190[deg]
+[05/10 21:09:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:09:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:09:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:10:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:10:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:11:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:12:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:12:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:12:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:12:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:12:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:12:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:12:26 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:12:26 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:12:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:12:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:12:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 76 non-colliding grasps
+[05/10 21:12:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.471s, found feasible grasp: True
+[05/10 21:12:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.397[deg]
+[05/10 21:12:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:12:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:12:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:12:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:12:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:13:13 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:13:13 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:13:13 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:13:29 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:13:29 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:13:29 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 16.06s (batch: 4.38s, save: 11.68s)
+[05/10 21:13:29 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 12 house 1 success=True episode_total=0.43s:
+  episode_total: mean=223.74s, total=223.74s, count=1, min=223738.3ms, max=223738.3ms
+  sensor_polling: mean=524.2ms, total=157.27s, count=300, min=434.9ms, max=939.9ms
+  save_trajectories: mean=11.68s, total=11.68s, count=1, min=11679.5ms, max=11679.5ms
+  physics_step: mean=24.5ms, total=7.35s, count=300, min=15.8ms, max=115.3ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.1ms, max=4384.1ms
+  task_sampling: mean=430.1ms, total=430.1ms, count=1, min=430.1ms, max=430.1ms
+  task_specific_sample: mean=425.0ms, total=425.0ms, count=1, min=425.0ms, max=425.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=588.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:13:31 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:13:31 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:13:31 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:13:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:13:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:13:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:13:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:13:31 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:13:31 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:13:31 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:13:31 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
+[05/10 21:13:31 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:13:31 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:13:31 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003857m
+[05/10 21:13:31 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:13:31 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:13:31 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:13:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:13:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:13:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:13:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73056655  0.94092386  0.00385735] yaw=-147.3deg
+[05/10 21:13:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:13:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:13:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:13:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=208.5ms, total=208.5ms
+[05/10 21:13:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.731, 0.941, 0.004)
+[05/10 21:13:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -147.3 deg
+[05/10 21:13:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.075m
+[05/10 21:13:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:13:32 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:13:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:13:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:13:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:13:32 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 13/18 collected=0/3
+[05/10 21:13:32 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 21:13:32 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:13:32 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:13:32 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 21:13:34 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.695s, found feasible grasp: True
+[05/10 21:13:34 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.649[m] 86.943[deg]
+[05/10 21:13:34 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:13:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:14:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:14:54 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:14:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:16:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:16:43 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:16:43 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:16:43 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:16:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:16:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:16:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.84s (batch: 4.33s, save: 8.50s)
+[05/10 21:16:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 13 house 1 success=True episode_total=0.51s:
+  episode_total: mean=204.80s, total=204.80s, count=1, min=204796.6ms, max=204796.6ms
+  sensor_polling: mean=506.9ms, total=152.07s, count=300, min=437.6ms, max=856.8ms
+  save_trajectories: mean=8.50s, total=8.50s, count=1, min=8504.7ms, max=8504.7ms
+  physics_step: mean=24.6ms, total=7.38s, count=300, min=14.8ms, max=83.6ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4331.9ms, max=4331.9ms
+  task_sampling: mean=514.7ms, total=514.7ms, count=1, min=514.7ms, max=514.7ms
+  task_specific_sample: mean=509.8ms, total=509.8ms, count=1, min=509.8ms, max=509.8ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=582.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:16:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:16:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:16:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:16:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:16:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:16:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:16:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:16:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:16:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:16:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.066m, effective arm-mount z=0.926m (base_body_z=0.066m, pedestal_h=0.860m)
+[05/10 21:16:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:16:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:16:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.065755m
+[05/10 21:16:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:16:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:16:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:16:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6911446   0.43817937  0.0657553 ] yaw=169.1deg
+[05/10 21:16:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:16:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:16:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:16:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.97721703  1.07370394  0.0657553 ] yaw=-147.6deg
+[05/10 21:16:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:16:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:16:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:16:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.7ms, total=186.7ms
+[05/10 21:16:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.691, 0.438, 0.066)
+[05/10 21:16:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg
+[05/10 21:16:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.012m
+[05/10 21:16:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:16:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:16:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:16:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:16:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 14/18 collected=0/3
+[05/10 21:16:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 21:16:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:16:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:16:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 21:16:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.636s, found feasible grasp: True
+[05/10 21:16:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.566[m] 91.174[deg]
+[05/10 21:16:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:17:00 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:17:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:18:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:18:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:18:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:19:45 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:20:12 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:20:12 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:20:12 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:20:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:20:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:20:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 13.51s (batch: 4.37s, save: 9.14s)
+[05/10 21:20:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
+  episode_total: mean=207.89s, total=207.89s, count=1, min=207891.6ms, max=207891.6ms
+  sensor_polling: mean=514.3ms, total=154.29s, count=300, min=442.7ms, max=1090.4ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9142.4ms, max=9142.4ms
+  physics_step: mean=26.0ms, total=7.80s, count=300, min=16.5ms, max=74.6ms
+  save_batch_prep: mean=4.37s, total=4.37s, count=1, min=4366.7ms, max=4366.7ms
+  task_sampling: mean=472.4ms, total=472.4ms, count=1, min=472.4ms, max=472.4ms
+  task_specific_sample: mean=468.3ms, total=468.3ms, count=1, min=468.3ms, max=468.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:20:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:20:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:20:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:20:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:20:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:20:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:20:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:20:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:20:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:20:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.005m, effective arm-mount z=0.865m (base_body_z=0.005m, pedestal_h=0.860m)
+[05/10 21:20:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:20:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:20:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004559m
+[05/10 21:20:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:20:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:20:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:20:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:20:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:20:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:20:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.99042119  0.14648002  0.00455889] yaw=166.1deg
+[05/10 21:20:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:20:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:20:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88709121  0.41426274  0.00455889] yaw=185.2deg
+[05/10 21:20:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:20:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.92005349  0.78006857  0.00455889] yaw=-162.4deg
+[05/10 21:20:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:20:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:20:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=562.0ms, total=562.0ms
+[05/10 21:20:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.146, 0.005)
+[05/10 21:20:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 166.1 deg
+[05/10 21:20:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.787m
+[05/10 21:20:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:20:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:20:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:20:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:20:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:20:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 15/18 collected=0/3
+[05/10 21:20:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.161s
+[05/10 21:20:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:20:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:20:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 21:20:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.404s, found feasible grasp: True
+[05/10 21:20:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.419[m] 96.458[deg]
+[05/10 21:20:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:20:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:21:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:21:29 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:21:34 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:22:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:22:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:22:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:22:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:22:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:22:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:22:52 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:22:53 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:22:53 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:22:53 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:22:54 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.053s, found 80 non-colliding grasps
+[05/10 21:22:54 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.471s, found feasible grasp: True
+[05/10 21:22:54 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.233[deg]
+[05/10 21:22:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:22:55 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:22:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:23:00 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:23:13 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:23:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:23:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:23:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:23:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:23:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:23:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:23:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:23:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:23:50 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 21:23:50 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:23:50 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:23:50 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.067s, found 76 non-colliding grasps
+[05/10 21:23:52 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.232s, found feasible grasp: True
+[05/10 21:23:52 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.977[deg]
+[05/10 21:23:53 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:23:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:23:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:24:04 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:24:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:24:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:24:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:24:40 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:24:40 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:24:40 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.58s (batch: 4.11s, save: 8.47s)
+[05/10 21:24:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 15 house 1 success=True episode_total=0.92s:
+  episode_total: mean=252.54s, total=252.54s, count=1, min=252544.9ms, max=252544.9ms
+  sensor_polling: mean=544.9ms, total=163.46s, count=300, min=465.5ms, max=933.8ms
+  save_trajectories: mean=8.47s, total=8.47s, count=1, min=8466.1ms, max=8466.1ms
+  physics_step: mean=25.0ms, total=7.51s, count=300, min=14.1ms, max=117.0ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4109.7ms, max=4109.7ms
+  task_sampling: mean=920.1ms, total=920.1ms, count=1, min=920.1ms, max=920.1ms
+  task_specific_sample: mean=915.3ms, total=915.3ms, count=1, min=915.3ms, max=915.3ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=627.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:24:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:24:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:24:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:24:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:24:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:24:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:24:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:24:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:24:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:24:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
+[05/10 21:24:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:24:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:24:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.033862m
+[05/10 21:24:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:24:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:24:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:24:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 124.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.82227541  0.0145964   0.03386198] yaw=142.1deg
+[05/10 21:24:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:24:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:24:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02370475  0.15953073  0.03386198] yaw=164.7deg
+[05/10 21:24:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:24:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9268626   0.21723471  0.03386198] yaw=171.1deg
+[05/10 21:24:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:24:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:24:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.8ms
+[05/10 21:24:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.822, 0.015, 0.034)
+[05/10 21:24:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 142.1 deg
+[05/10 21:24:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
+[05/10 21:24:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:24:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:24:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:24:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:24:43 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 16/18 collected=0/3
+[05/10 21:24:43 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
+[05/10 21:24:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:24:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:24:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 21:24:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.670s, found feasible grasp: True
+[05/10 21:24:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 70 (originally 70): w/ 0.558[m] 88.230[deg]
+[05/10 21:24:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:24:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:25:44 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:25:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:26:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:27:36 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:27:58 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:27:58 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:27:58 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:28:11 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:28:11 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:28:11 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.73s (batch: 4.08s, save: 8.65s)
+[05/10 21:28:11 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 16 house 1 success=True episode_total=0.49s:
+  episode_total: mean=208.57s, total=208.57s, count=1, min=208566.2ms, max=208566.2ms
+  sensor_polling: mean=532.7ms, total=159.81s, count=300, min=454.9ms, max=1153.9ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8648.7ms, max=8648.7ms
+  physics_step: mean=25.6ms, total=7.67s, count=300, min=16.2ms, max=106.5ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4080.2ms, max=4080.2ms
+  task_sampling: mean=485.6ms, total=485.6ms, count=1, min=485.6ms, max=485.6ms
+  task_specific_sample: mean=481.6ms, total=481.6ms, count=1, min=481.6ms, max=481.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=417.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:28:13 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:28:13 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:28:13 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:28:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:28:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:28:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:28:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:28:13 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:28:13 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:28:13 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:28:13 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)
+[05/10 21:28:13 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:28:13 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:28:13 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005746m
+[05/10 21:28:13 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:28:13 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:28:13 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:28:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84897735  1.0608889   0.00574605] yaw=-134.6deg
+[05/10 21:28:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:28:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.95961722  0.64166377  0.00574605] yaw=-162.0deg
+[05/10 21:28:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:28:13 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:28:13 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.01551301  0.96174227  0.00574605] yaw=-138.0deg
+[05/10 21:28:13 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:28:13 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:28:13 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.3ms, total=96.4ms
+[05/10 21:28:13 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.849, 1.061, 0.006)
+[05/10 21:28:13 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.6 deg
+[05/10 21:28:13 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.031m
+[05/10 21:28:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:28:13 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:28:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:28:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:28:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:28:13 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 17/18 collected=0/3
+[05/10 21:28:13 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.075s
+[05/10 21:28:13 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:28:13 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:28:13 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:28:17 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.888s, found feasible grasp: True
+[05/10 21:28:17 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.603[m] 90.810[deg]
+[05/10 21:28:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:28:18 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:29:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:29:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:29:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:31:08 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:31:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:31:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_008 batch 4/4: 1 episodes
+[05/10 21:31:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:31:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:31:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_008
+[05/10 21:31:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_008 in 12.01s (batch: 4.04s, save: 7.97s)
+[05/10 21:31:41 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 17 house 1 success=True episode_total=0.40s:
+  episode_total: mean=208.25s, total=208.25s, count=1, min=208251.4ms, max=208251.4ms
+  sensor_polling: mean=530.5ms, total=159.14s, count=300, min=447.4ms, max=1022.5ms
+  save_trajectories: mean=7.97s, total=7.97s, count=1, min=7970.2ms, max=7970.2ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=16.2ms, max=92.2ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4040.6ms, max=4040.6ms
+  task_sampling: mean=401.1ms, total=401.1ms, count=1, min=401.1ms, max=401.1ms
+  task_specific_sample: mean=397.2ms, total=397.2ms, count=1, min=397.2ms, max=397.2ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=451.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:31:43 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
+[05/10 21:31:43 Worker 0 WARNING pipeline.py:234] No trajectory data to save for chunk_008
+[05/10 21:31:43 Worker 0 INFO pipeline.py:1323] Worker 0 completed house 1: 12/13 successful episodes
+[05/10 21:31:43 Worker 0 INFO profiler_utils.py:407] [PROFILE] House 1 complete: 12/13 successful, 13 episodes, total_time=5650.04s
+  House averages:
+  episode_total: mean=171.75s, total=3091.50s, count=18, min=2323.8ms, max=257855.6ms
+  sensor_polling: mean=524.9ms, total=2255.32s, count=4297, min=434.9ms, max=1153.9ms
+  save_trajectories: mean=9.38s, total=112.56s, count=12, min=7970.2ms, max=11679.5ms
+  physics_step: mean=25.7ms, total=110.31s, count=4297, min=14.1ms, max=127.5ms
+  save_batch_prep: mean=4.38s, total=52.60s, count=12, min=4040.6ms, max=5105.8ms
+  task_sampling: mean=670.4ms, total=12.07s, count=18, min=401.1ms, max=3341.8ms
+  task_specific_sample: mean=512.5ms, total=9.23s, count=18, min=397.2ms, max=915.3ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
+  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
+  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
+  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
+  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
+  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.2ms, max=3.4ms
+  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  mj_forward_sync: mean=499.7us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=21.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 21:31:43 Worker 0 INFO pipeline.py:512] Worker 0 completed processing assigned houses
+[05/10 21:31:43 Worker 0 INFO profiler_utils.py:429] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=5650.04s
+  Worker averages:
+  episode_total: mean=171.75s, total=3091.50s, count=18, min=2323.8ms, max=257855.6ms
+  sensor_polling: mean=524.9ms, total=2255.32s, count=4297, min=434.9ms, max=1153.9ms
+  save_trajectories: mean=9.38s, total=112.56s, count=12, min=7970.2ms, max=11679.5ms
+  physics_step: mean=25.7ms, total=110.31s, count=4297, min=14.1ms, max=127.5ms
+  save_batch_prep: mean=4.38s, total=52.60s, count=12, min=4040.6ms, max=5105.8ms
+  task_sampling: mean=670.4ms, total=12.07s, count=18, min=401.1ms, max=3341.8ms
+  task_specific_sample: mean=512.5ms, total=9.23s, count=18, min=397.2ms, max=915.3ms
+  scene_load: mean=2.77s, total=2.77s, count=1, min=2771.7ms, max=2771.7ms
+  scene_env_create: mean=1.80s, total=1.80s, count=1, min=1802.8ms, max=1802.8ms
+  scene_compile: mean=791.1ms, total=791.1ms, count=1, min=791.1ms, max=791.1ms
+  compile_mujoco: mean=565.6ms, total=565.6ms, count=1, min=565.6ms, max=565.6ms
+  compile_xml_load: mean=162.1ms, total=162.1ms, count=1, min=162.1ms, max=162.1ms
+  scene_init: mean=136.7ms, total=136.7ms, count=1, min=136.7ms, max=136.7ms
+  compile_aux_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  compile_aux_policy_objects: mean=45.1ms, total=45.1ms, count=1, min=45.1ms, max=45.1ms
+  scene_randomize: mean=2.3ms, total=40.9ms, count=18, min=1.2ms, max=3.4ms
+  scene_asset_install: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms
+  asset_install_grasps: mean=29.8ms, total=29.8ms, count=1, min=29.8ms, max=29.8ms
+  compile_robot_add: mean=9.7ms, total=9.7ms, count=1, min=9.7ms, max=9.7ms
+  mj_forward_sync: mean=499.7us, total=9.0ms, count=18, min=0.4ms, max=0.6ms
+  asset_install_objects: mean=8.8ms, total=8.8ms, count=1, min=8.8ms, max=8.8ms
+  asset_install_scene: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  policy_setup: mean=21.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms
+[05/10 21:31:45 INFO pipeline.py:1488] Completed 1 houses, skipped 0 houses
+[05/10 21:31:45 INFO pipeline.py:1491] Success count: 12, Total count: 13
+[05/10 21:31:45 INFO pipeline.py:1492] Success rate: 92.31%
+Failed to import warp: No module named 'warp'
+Failed to import mujoco_warp: No module named 'warp'
+Using SCENES_ROOT: /svl/u/ravenh/renderscale/molmospaces/assets/scenes
+==========================================
+Done. Shard 4/4 data saved under /scr/ravenh/fridge_7/sim_chunks/chunk_008
+==========================================
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+05/10 21:37:46 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 21:37:46 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 21:37:46 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 21:37:46 INFO: {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
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+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
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+                                'is_warped': False,
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+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
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+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
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+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
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+                                   'gripper': 'joint_position'},
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+                  'gravcomp': True,
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+                                        0.0],
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+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
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+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20904,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
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+                 'articulation_object_name': None,
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+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
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+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
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+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
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+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 21:37:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 21:37:46 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 21:37:46 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 21:37:46 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 21:37:46 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 21:37:46 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 21:37:46 INFO: {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7fb4054f9350>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20902,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 21:37:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 21:37:46 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 21:37:46 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 21:37:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 21:37:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 21:37:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 21:37:47 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 21:37:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 21:37:47 INFO: {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70005e32c250>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20903,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 21:37:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 21:37:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 21:37:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 21:37:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 21:37:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/10 21:37:47 INFO: Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/10 21:37:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/10 21:37:47 INFO: {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7651505da210>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20901,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/10 21:37:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/10 21:37:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/10 21:37:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/10 21:37:48 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/10 21:37:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 21:37:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 21:37:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 21:37:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 21:37:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:37:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078143m	[env.py: 870]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:37:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:37:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 21:37:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69840958  0.69742673  0.07814342] yaw=-166.3deg	[env.py: 1019]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87865762  0.32680021  0.07814342] yaw=159.1deg	[env.py: 1019]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:37:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 21:37:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:50 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/10 21:37:50 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77659807  0.24852128  0.07814342] yaw=168.0deg	[env.py: 1019]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:37:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.9ms, retries=217.3ms, total=230.1ms	[env.py: 1075]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.697, 0.078)	[env.py: 1079]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg	[env.py: 1082]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:37:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 21:37:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 21:37:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:37:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:37:50 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 21:37:50 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 21:37:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:37:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013058m	[env.py: 870]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:37:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:37:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096752m	[env.py: 870]
+05/10 21:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:37:50 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:37:51 INFO: [Worker 0] Found 1 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/10 21:37:51 INFO: [Worker 0] Filtered to 1 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:37:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:37:51 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:37:51 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:37:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:37:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054552m	[env.py: 870]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:37:51 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88367914  0.82637319  0.09675237] yaw=-157.1deg	[env.py: 1019]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78555103  0.71418601  0.09675237] yaw=-177.1deg	[env.py: 1019]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70194614  0.65822738  0.01305819] yaw=-161.9deg	[env.py: 1019]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86616667  0.39236449  0.09675237] yaw=172.3deg	[env.py: 1019]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:37:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=44.5ms, retries=130.7ms, total=175.2ms	[env.py: 1075]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.826, 0.097)	[env.py: 1079]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg	[env.py: 1082]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.945628    0.32045988  0.01305819] yaw=170.1deg	[env.py: 1019]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:37:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=63.3ms, retries=215.3ms, total=278.6ms	[env.py: 1075]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.658, 0.013)	[env.py: 1079]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg	[env.py: 1082]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:37:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:37:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79603452  1.07200904  0.05455197] yaw=-145.2deg	[env.py: 1019]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:37:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:37:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:37:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=70.5ms, retries=340.5ms, total=411.0ms	[env.py: 1075]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.796, 1.072, 0.055)	[env.py: 1079]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg	[env.py: 1082]
+05/10 21:37:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:37:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:37:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:37:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:37:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:37:51 INFO: [Worker 0] Worker 0 house 1 episode 0/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 28.556s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:38:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:38:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 29.017s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:38:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:38:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:38:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:38:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.255s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:38:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.416[m] 78.512[deg]	[grasp_sample.py: 539]
+05/10 21:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 29.973s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:38:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:38:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:38:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:38:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:38:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.547[m] 87.428[deg]	[grasp_sample.py: 539]
+05/10 21:38:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:38:21 INFO: [Worker 0] Warmed up parallel IK solver in 29.894s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:38:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:38:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:38:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:38:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:38:22 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.532[m] 81.815[deg]	[grasp_sample.py: 539]
+05/10 21:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:38:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:38:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:38:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:38:24 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.816s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:38:24 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.668[m] 96.278[deg]	[grasp_sample.py: 539]
+05/10 21:38:25 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:38:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:38:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:38:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:38:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:38:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:38:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:38:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054501m	[env.py: 870]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:38:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7650731   0.29964744  0.05450054] yaw=159.7deg	[env.py: 1019]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80220069  1.02787749  0.05450054] yaw=-145.5deg	[env.py: 1019]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:38:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=369.0ms, total=369.0ms	[env.py: 1075]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.300, 0.055)	[env.py: 1079]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg	[env.py: 1082]
+05/10 21:38:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:38:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:38:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:38:28 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:38:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:38:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:38:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:38:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:38:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:38:28 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.506[m] 84.258[deg]	[grasp_sample.py: 539]
+05/10 21:38:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:38:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:38:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:39:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:39:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:39:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:39:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:39:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:39:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:39:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:39:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:39:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:39:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:39:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:39:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:41:07 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:41:09 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:41:11 INFO: [Worker 0] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:41:28 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:41:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:41:28 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:41:30 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:41:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:41:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:41:32 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:41:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:41:32 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:41:33 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:41:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:41:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:41:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.67s (batch: 4.39s, save: 8.28s)	[pipeline.py: 300]
+05/10 21:41:42 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.62s:
+  episode_total: mean=235.16s, total=235.16s, count=1, min=235156.8ms, max=235156.8ms
+  sensor_polling: mean=516.3ms, total=154.89s, count=300, min=436.3ms, max=880.3ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8276.1ms, max=8276.1ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.8ms, max=68.0ms
+  task_sampling: mean=4.62s, total=4.62s, count=1, min=4624.7ms, max=4624.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.4ms, max=4390.4ms
+  scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms
+  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms
+  scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms
+  compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms
+  task_specific_sample: mean=633.0ms, total=633.0ms, count=1, min=633.0ms, max=633.0ms
+  scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms
+  compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms
+  scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
+  compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms
+  asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  policy_setup: mean=55.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/10 21:41:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:41:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:41:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.79s (batch: 4.21s, save: 8.59s)	[pipeline.py: 300]
+05/10 21:41:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:41:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:41:43 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:41:43 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:41:43 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:41:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:41:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058285m	[env.py: 870]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:41:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80242508  0.29248231  0.05828515] yaw=164.4deg	[env.py: 1019]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89481798  0.31285414  0.05828515] yaw=174.5deg	[env.py: 1019]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97862955  0.92767845  0.05828515] yaw=-145.9deg	[env.py: 1019]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:41:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.3ms, total=231.3ms	[env.py: 1075]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.292, 0.058)	[env.py: 1079]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg	[env.py: 1082]
+05/10 21:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:41:44 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.51s:
+  episode_total: mean=236.22s, total=236.22s, count=1, min=236223.9ms, max=236223.9ms
+  sensor_polling: mean=523.7ms, total=157.12s, count=300, min=447.7ms, max=1051.1ms
+  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8586.1ms, max=8586.1ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=18.6ms, max=70.6ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4208.1ms, max=4208.1ms
+  task_sampling: mean=3.51s, total=3.51s, count=1, min=3508.2ms, max=3508.2ms
+  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
+  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms
+  compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms
+  task_specific_sample: mean=530.0ms, total=530.0ms, count=1, min=530.0ms, max=530.0ms
+  compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms
+  scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
+  scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms
+  compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms
+  compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
+  asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms
+  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=913.4us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:41:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:41:44 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:41:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:41:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:41:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:41:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:41:44 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:41:44 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.475[m] 96.364[deg]	[grasp_sample.py: 539]
+05/10 21:41:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:41:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:41:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:41:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:41:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:41:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.26s (batch: 4.64s, save: 8.62s)	[pipeline.py: 300]
+05/10 21:41:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:41:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:41:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:41:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:41:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:41:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:41:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040138m	[env.py: 870]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:41:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92959355  0.48000957  0.04013848] yaw=190.2deg	[env.py: 1019]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85333759  0.44740435  0.04013848] yaw=170.6deg	[env.py: 1019]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04978676  1.11991253  0.04013848] yaw=-131.8deg	[env.py: 1019]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:41:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.9ms, total=154.0ms	[env.py: 1075]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.480, 0.040)	[env.py: 1079]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 190.2 deg	[env.py: 1082]
+05/10 21:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.773m	[env.py: 1086]
+05/10 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:41:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:41:46 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:41:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:41:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:41:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:41:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:41:46 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=4.87s:
+  episode_total: mean=239.90s, total=239.90s, count=1, min=239904.3ms, max=239904.3ms
+  sensor_polling: mean=524.9ms, total=157.46s, count=300, min=446.6ms, max=861.5ms
+  save_trajectories: mean=8.62s, total=8.62s, count=1, min=8616.6ms, max=8616.6ms
+  physics_step: mean=27.1ms, total=8.14s, count=300, min=15.5ms, max=101.6ms
+  task_sampling: mean=4.87s, total=4.87s, count=1, min=4874.2ms, max=4874.2ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4642.3ms, max=4642.3ms
+  scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms
+  scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms
+  compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms
+  task_specific_sample: mean=781.5ms, total=781.5ms, count=1, min=781.5ms, max=781.5ms
+  compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
+  scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
+  scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
+  compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
+  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
+  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=391.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/10 21:41:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:41:46 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.368[m] 87.589[deg]	[grasp_sample.py: 539]
+05/10 21:41:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:41:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:41:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:41:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:41:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:41:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:41:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:41:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:41:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:41:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015438m	[env.py: 870]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:41:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75043123  0.69790588  0.01543775] yaw=-171.6deg	[env.py: 1019]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78708884  0.84564956  0.01543775] yaw=-147.3deg	[env.py: 1019]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79430639  0.98150733  0.01543775] yaw=-149.7deg	[env.py: 1019]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:41:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.3ms, total=158.4ms	[env.py: 1075]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.698, 0.015)	[env.py: 1079]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg	[env.py: 1082]
+05/10 21:41:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:41:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:41:48 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:41:48 INFO: [Worker 0] Worker 0 house 1 episode 1/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:41:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:41:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:41:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:41:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:41:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.652s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:41:49 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.540[m] 90.670[deg]	[grasp_sample.py: 539]
+05/10 21:41:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:41:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:41:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:41:53 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:41:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:41:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:42:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:42:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:42:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.21s (batch: 4.32s, save: 8.89s)	[pipeline.py: 300]
+05/10 21:42:07 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=4.97s:
+  episode_total: mean=129.10s, total=258.20s, count=2, min=38271.6ms, max=219925.7ms
+  sensor_polling: mean=518.5ms, total=155.54s, count=300, min=438.0ms, max=898.1ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8893.6ms, max=8893.6ms
+  physics_step: mean=27.2ms, total=8.17s, count=300, min=17.6ms, max=132.8ms
+  task_sampling: mean=2.49s, total=4.97s, count=2, min=665.8ms, max=4308.0ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.8ms, max=4318.8ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms
+  task_specific_sample: mean=680.3ms, total=1.36s, count=2, min=662.8ms, max=697.9ms
+  scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms
+  compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms
+  scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms
+  compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
+  compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
+  compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
+  scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms
+  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
+  mj_forward_sync: mean=2.4ms, total=4.8ms, count=2, min=0.5ms, max=4.3ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.6ms, max=2.0ms
+  policy_setup: mean=28.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:42:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:42:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:42:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:42:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:42:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:42:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:42:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025446m	[env.py: 870]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:42:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01048895  1.04469853  0.02544591] yaw=-132.3deg	[env.py: 1019]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:42:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.7ms, total=336.8ms	[env.py: 1075]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.010, 1.045, 0.025)	[env.py: 1079]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -132.3 deg	[env.py: 1082]
+05/10 21:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:42:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:42:09 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:42:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:42:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:42:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:42:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:42:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:42:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.470[m] 94.194[deg]	[grasp_sample.py: 539]
+05/10 21:42:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:42:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:42:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:42:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:42:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:42:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:42:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:42:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:42:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:42:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:42:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:42:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:42:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:43:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:43:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:43:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:43:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:43:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:43:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:43:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:43:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:43:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:43:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:43:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:43:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:43:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:43:30 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.449s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:43:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.452[deg]	[grasp_sample.py: 539]
+05/10 21:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:43:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:43:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:43:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:43:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:43:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:44:19 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:44:21 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:44:31 INFO: [Worker 0] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:44:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:44:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:44:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:44:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:44:42 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:44:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:44:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:44:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:44:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:44:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:44:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:44:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:44:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:44:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:44:51 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.809s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:44:51 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.792[deg]	[grasp_sample.py: 539]
+05/10 21:44:52 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:44:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:44:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:44:53 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:44:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:44:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:44:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.41s (batch: 4.30s, save: 9.10s)	[pipeline.py: 300]
+05/10 21:44:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:44:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:44:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:44:54 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:44:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:44:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:44:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008906m	[env.py: 870]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:44:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76329688  0.38370386  0.00890552] yaw=165.4deg	[env.py: 1019]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86119877  0.39958689  0.00890552] yaw=167.5deg	[env.py: 1019]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84878388  0.53032765  0.00890552] yaw=-165.4deg	[env.py: 1019]
+05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:44:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.5ms	[env.py: 1075]
+05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.384, 0.009)	[env.py: 1079]
+05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
+05/10 21:44:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/10 21:44:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:44:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:44:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:44:55 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.51s:
+  episode_total: mean=191.47s, total=191.47s, count=1, min=191470.9ms, max=191470.9ms
+  sensor_polling: mean=478.1ms, total=143.44s, count=300, min=441.9ms, max=769.2ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9101.7ms, max=9101.7ms
+  physics_step: mean=22.9ms, total=6.86s, count=300, min=14.5ms, max=35.1ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.2ms, max=4304.2ms
+  task_sampling: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms
+  task_specific_sample: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=393.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:44:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:44:55 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:44:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:44:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:44:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:44:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:44:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:44:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:44:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.89s (batch: 4.03s, save: 8.86s)	[pipeline.py: 300]
+05/10 21:44:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:44:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.478[m] 89.704[deg]	[grasp_sample.py: 539]
+05/10 21:44:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:44:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:44:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:44:56 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=188.47s, total=188.47s, count=1, min=188470.5ms, max=188470.5ms
+  sensor_polling: mean=478.0ms, total=143.41s, count=300, min=439.1ms, max=677.6ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8861.5ms, max=8861.5ms
+  physics_step: mean=21.4ms, total=6.41s, count=300, min=16.6ms, max=31.6ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4026.4ms, max=4026.4ms
+  task_sampling: mean=424.4ms, total=424.4ms, count=1, min=424.4ms, max=424.4ms
+  task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=437.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:44:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:44:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:44:56 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:44:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:44:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:44:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:44:56 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:44:56 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:44:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:44:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068393m	[env.py: 870]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:44:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70968768  0.74786147  0.06839309] yaw=-157.7deg	[env.py: 1019]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84179878  1.00818012  0.06839309] yaw=-147.2deg	[env.py: 1019]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:44:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77158331  0.43589665  0.06839309] yaw=187.6deg	[env.py: 1019]
+05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:44:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.3ms, total=170.4ms	[env.py: 1075]
+05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.748, 0.068)	[env.py: 1079]
+05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg	[env.py: 1082]
+05/10 21:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/10 21:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:44:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:44:57 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:44:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:44:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:44:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:44:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:44:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:44:58 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.607[m] 84.882[deg]	[grasp_sample.py: 539]
+05/10 21:44:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:44:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:44:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:44:58 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:44:58 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:44:58 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:44:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:44:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093064m	[env.py: 870]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:44:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91776501  0.79851926  0.09306394] yaw=-154.2deg	[env.py: 1019]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95180662  0.076947    0.09306394] yaw=160.7deg	[env.py: 1019]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96905711  0.74109691  0.09306394] yaw=-152.1deg	[env.py: 1019]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:44:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms	[env.py: 1075]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.799, 0.093)	[env.py: 1079]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg	[env.py: 1082]
+05/10 21:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:44:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:44:58 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:44:58 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:44:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:44:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:44:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:44:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:44:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:44:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:44:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:44:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.401[m] 78.115[deg]	[grasp_sample.py: 539]
+05/10 21:44:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:44:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:44:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:45:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:45:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:45:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.47s (batch: 4.36s, save: 9.11s)	[pipeline.py: 300]
+05/10 21:45:06 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=200.65s, total=200.65s, count=1, min=200645.7ms, max=200645.7ms
+  sensor_polling: mean=487.1ms, total=146.14s, count=300, min=459.1ms, max=723.9ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9111.5ms, max=9111.5ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=15.6ms, max=54.9ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4357.8ms, max=4357.8ms
+  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  task_specific_sample: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=426.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:45:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:45:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:45:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:45:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:45:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:45:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:45:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098763m	[env.py: 870]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:45:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8174192   0.54966417  0.09876346] yaw=-167.1deg	[env.py: 1019]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84673044  0.86195046  0.09876346] yaw=-150.9deg	[env.py: 1019]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85788473  0.94650947  0.09876346] yaw=-148.0deg	[env.py: 1019]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:45:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.3ms, total=185.3ms	[env.py: 1075]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.550, 0.099)	[env.py: 1079]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg	[env.py: 1082]
+05/10 21:45:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:45:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:45:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:45:08 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:45:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:45:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:45:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:45:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:45:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:45:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.475[m] 97.656[deg]	[grasp_sample.py: 539]
+05/10 21:45:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:45:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:45:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:45:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:45:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:45:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:45:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:45:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:45:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:45:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:45:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:46:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:46:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:46:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:46:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:47:29 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:47:29 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:47:33 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:47:43 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:47:51 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:47:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:47:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:47:53 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:47:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:47:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:47:54 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:47:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:47:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:48:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:48:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:48:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.00s (batch: 4.46s, save: 8.54s)	[pipeline.py: 300]
+05/10 21:48:05 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:48:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:48:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:48:05 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
+  episode_total: mean=188.83s, total=188.83s, count=1, min=188833.0ms, max=188833.0ms
+  sensor_polling: mean=475.0ms, total=142.51s, count=300, min=440.0ms, max=672.3ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8540.0ms, max=8540.0ms
+  physics_step: mean=21.0ms, total=6.30s, count=300, min=18.3ms, max=29.2ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.9ms, max=4462.9ms
+  task_sampling: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
+  task_specific_sample: mean=448.0ms, total=448.0ms, count=1, min=448.0ms, max=448.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=414.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:48:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:48:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:48:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.55s (batch: 4.49s, save: 8.05s)	[pipeline.py: 300]
+05/10 21:48:06 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s:
+  episode_total: mean=177.72s, total=355.43s, count=2, min=163970.0ms, max=191461.8ms
+  sensor_polling: mean=477.6ms, total=285.62s, count=598, min=438.9ms, max=694.4ms
+  physics_step: mean=23.2ms, total=13.84s, count=598, min=15.6ms, max=37.2ms
+  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8051.1ms, max=8051.1ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.3ms, max=4494.3ms
+  task_sampling: mean=529.6ms, total=1.06s, count=2, min=458.8ms, max=600.4ms
+  task_specific_sample: mean=526.1ms, total=1.05s, count=2, min=455.7ms, max=596.6ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=412.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:48:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:48:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:48:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.80s (batch: 4.20s, save: 8.60s)	[pipeline.py: 300]
+05/10 21:48:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:48:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:48:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:48:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:48:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:48:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052779m	[env.py: 870]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:48:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01494016  0.93107802  0.05277918] yaw=-138.4deg	[env.py: 1019]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76951487  0.58651569  0.05277918] yaw=-180.5deg	[env.py: 1019]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90276789  0.53772231  0.05277918] yaw=-169.1deg	[env.py: 1019]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:48:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.8ms, total=216.8ms	[env.py: 1075]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.931, 0.053)	[env.py: 1079]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg	[env.py: 1082]
+05/10 21:48:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:48:07 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:48:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:48:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:48:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:48:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:48:07 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
+  episode_total: mean=189.68s, total=189.68s, count=1, min=189677.6ms, max=189677.6ms
+  sensor_polling: mean=482.3ms, total=144.70s, count=300, min=448.9ms, max=648.9ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8602.3ms, max=8602.3ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=15.4ms, max=32.0ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.1ms, max=4201.1ms
+  task_sampling: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
+  task_specific_sample: mean=438.9ms, total=438.9ms, count=1, min=438.9ms, max=438.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=417.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:48:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:48:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:48:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:08 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:48:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:48:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:48:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092207m	[env.py: 870]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:48:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77076065  0.53505719  0.09220746] yaw=-183.7deg	[env.py: 1019]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64079981  0.3326261   0.09220746] yaw=182.6deg	[env.py: 1019]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8451624   0.41295116  0.09220746] yaw=166.3deg	[env.py: 1019]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:48:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.6ms	[env.py: 1075]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.535, 0.092)	[env.py: 1079]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg	[env.py: 1082]
+05/10 21:48:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:48:08 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:48:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:48:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:48:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:48:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:48:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:48:08 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.389[m] 82.710[deg]	[grasp_sample.py: 539]
+05/10 21:48:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:48:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:48:09 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.506[m] 92.316[deg]	[grasp_sample.py: 539]
+05/10 21:48:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:48:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:48:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:48:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:48:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:48:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:48:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:48:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:09 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:48:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:48:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:48:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034244m	[env.py: 870]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:48:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88634209  1.19415786  0.0342438 ] yaw=-130.6deg	[env.py: 1019]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86882266  0.49060402  0.0342438 ] yaw=-183.1deg	[env.py: 1019]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71313064  0.78462643  0.0342438 ] yaw=-171.0deg	[env.py: 1019]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:48:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms	[env.py: 1075]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.886, 1.194, 0.034)	[env.py: 1079]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg	[env.py: 1082]
+05/10 21:48:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:10 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:48:10 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:48:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:48:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:48:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:48:13 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.625s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:48:13 INFO: [Worker 0] Feasible grasp found 162 (originally 47): w/ 0.694[m] 150.155[deg]	[grasp_sample.py: 539]
+05/10 21:48:15 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:48:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:48:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:48:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:48:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:48:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:48:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087990m	[env.py: 870]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:48:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69499776  0.17550579  0.0879901 ] yaw=169.8deg	[env.py: 1019]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90088262  0.96672289  0.0879901 ] yaw=-150.9deg	[env.py: 1019]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:48:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=408.2ms, total=408.3ms	[env.py: 1075]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.176, 0.088)	[env.py: 1079]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
+05/10 21:48:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:48:18 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:48:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:48:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:48:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:48:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:48:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:48:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:48:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.32s (batch: 4.42s, save: 9.89s)	[pipeline.py: 300]
+05/10 21:48:20 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
+  episode_total: mean=191.90s, total=191.90s, count=1, min=191900.9ms, max=191900.9ms
+  sensor_polling: mean=483.6ms, total=145.08s, count=300, min=442.8ms, max=652.1ms
+  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9893.8ms, max=9893.8ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.7ms, max=35.1ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4423.2ms, max=4423.2ms
+  task_sampling: mean=489.4ms, total=489.4ms, count=1, min=489.4ms, max=489.4ms
+  task_specific_sample: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=495.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:48:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.714s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:48:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.642[m] 99.184[deg]	[grasp_sample.py: 539]
+05/10 21:48:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:48:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:48:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:48:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:48:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:48:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:48:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004371m	[env.py: 870]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:48:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94898013  0.3890341   0.00437123] yaw=180.9deg	[env.py: 1019]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:48:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:48:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95540073  1.06488743  0.00437123] yaw=-142.6deg	[env.py: 1019]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81399103  0.06148873  0.00437123] yaw=162.9deg	[env.py: 1019]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:48:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=247.0ms, total=247.0ms	[env.py: 1075]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.389, 0.004)	[env.py: 1079]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg	[env.py: 1082]
+05/10 21:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.759m	[env.py: 1086]
+05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:48:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:48:22 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:48:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:48:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:48:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:48:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:48:23 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.326[m] 90.054[deg]	[grasp_sample.py: 539]
+05/10 21:48:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:48:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:48:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:48:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:49:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:49:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:49:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:49:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:49:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:49:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:49:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:49:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:49:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:49:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:49:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:50:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:50:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:50:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:50:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:50:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:50:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:50:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:50:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:50:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:50:12 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.645s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:50:12 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.538[deg]	[grasp_sample.py: 539]
+05/10 21:50:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:50:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:50:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:50:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:50:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:50:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:50:58 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:51:03 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:51:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:51:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:51:17 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:51:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:51:19 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:51:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:51:19 INFO: [Worker 0] Preparing episode data: 300 timesteps	[save_utils.py: 278]
+05/10 21:51:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:51:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:51:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:51:24 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:51:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:51:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:51:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:51:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:51:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:51:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:51:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:51:29 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.945s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:51:29 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.030[deg]	[grasp_sample.py: 539]
+05/10 21:51:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:51:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:51:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:51:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:51:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:51:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.01s (batch: 4.16s, save: 10.85s)	[pipeline.py: 300]
+05/10 21:51:35 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
+  episode_total: mean=207.69s, total=207.69s, count=1, min=207686.4ms, max=207686.4ms
+  sensor_polling: mean=528.6ms, total=158.06s, count=299, min=445.2ms, max=954.9ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.7ms, max=10850.7ms
+  physics_step: mean=25.8ms, total=7.73s, count=299, min=14.9ms, max=82.4ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4157.8ms, max=4157.8ms
+  task_sampling: mean=497.5ms, total=497.5ms, count=1, min=497.5ms, max=497.5ms
+  task_specific_sample: mean=493.5ms, total=493.5ms, count=1, min=493.5ms, max=493.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=459.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:51:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:51:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:51:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:51:36 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:51:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:51:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:51:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012628m	[env.py: 870]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:51:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67366714  0.639719    0.01262768] yaw=-168.5deg	[env.py: 1019]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97139325  1.04592761  0.01262768] yaw=-140.9deg	[env.py: 1019]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:51:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms	[env.py: 1075]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.640, 0.013)	[env.py: 1079]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg	[env.py: 1082]
+05/10 21:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:51:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:51:37 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:51:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:51:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:51:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:51:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:51:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:51:38 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.639[m] 97.840[deg]	[grasp_sample.py: 539]
+05/10 21:51:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:51:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:51:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:51:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:51:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:51:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.86s (batch: 4.78s, save: 10.08s)	[pipeline.py: 300]
+05/10 21:51:39 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
+  episode_total: mean=211.96s, total=211.96s, count=1, min=211961.4ms, max=211961.4ms
+  sensor_polling: mean=533.3ms, total=159.98s, count=300, min=451.7ms, max=1190.4ms
+  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10080.2ms, max=10080.2ms
+  physics_step: mean=28.0ms, total=8.39s, count=300, min=18.7ms, max=85.7ms
+  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4782.6ms, max=4782.6ms
+  task_sampling: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
+  task_specific_sample: mean=417.4ms, total=417.4ms, count=1, min=417.4ms, max=417.4ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=483.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:51:41 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:51:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:51:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:51:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:51:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:51:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:51:41 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:51:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:51:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:51:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024102m	[env.py: 870]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:51:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90652377  0.50358754  0.02410204] yaw=-188.7deg	[env.py: 1019]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11372555  1.06333028  0.02410204] yaw=-132.3deg	[env.py: 1019]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73617596  0.69003352  0.02410204] yaw=-167.5deg	[env.py: 1019]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:51:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.1ms, total=211.1ms	[env.py: 1075]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.504, 0.024)	[env.py: 1079]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -188.7 deg	[env.py: 1082]
+05/10 21:51:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
+05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:51:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:51:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:51:42 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:51:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:51:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:51:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:51:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:51:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:51:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:51:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.392[m] 98.542[deg]	[grasp_sample.py: 539]
+05/10 21:51:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:51:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:51:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:51:43 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:51:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:51:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:51:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.16s (batch: 4.52s, save: 10.64s)	[pipeline.py: 300]
+05/10 21:51:57 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.55s:
+  episode_total: mean=112.71s, total=225.42s, count=2, min=5704.2ms, max=219714.9ms
+  sensor_polling: mean=532.5ms, total=159.75s, count=300, min=447.9ms, max=946.3ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10641.7ms, max=10641.7ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.2ms, max=67.5ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms
+  task_sampling: mean=776.7ms, total=1.55s, count=2, min=462.1ms, max=1091.2ms
+  task_specific_sample: mean=772.4ms, total=1.54s, count=2, min=458.2ms, max=1086.7ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.4ms, max=2.6ms
+  mj_forward_sync: mean=511.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:51:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:51:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:51:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:51:59 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:51:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:51:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:51:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035366m	[env.py: 870]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:51:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93188653  0.83490741  0.0353662 ] yaw=-163.1deg	[env.py: 1019]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93459396  0.36402371  0.0353662 ] yaw=180.7deg	[env.py: 1019]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84979214  0.93176366  0.0353662 ] yaw=-159.3deg	[env.py: 1019]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:51:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=396.2ms, total=396.2ms	[env.py: 1075]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.835, 0.035)	[env.py: 1079]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -163.1 deg	[env.py: 1082]
+05/10 21:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:51:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:51:59 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:52:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.157s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:52:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:52:00 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:52:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:52:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:52:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 91.727[deg]	[grasp_sample.py: 539]
+05/10 21:52:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:52:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:52:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:52:10 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:52:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:52:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:52:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:52:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:52:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.79s (batch: 4.51s, save: 9.28s)	[pipeline.py: 300]
+05/10 21:52:25 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
+  episode_total: mean=243.26s, total=243.26s, count=1, min=243262.4ms, max=243262.4ms
+  sensor_polling: mean=528.7ms, total=158.60s, count=300, min=443.1ms, max=1119.9ms
+  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9275.6ms, max=9275.6ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=15.6ms, max=84.5ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4511.5ms, max=4511.5ms
+  task_sampling: mean=555.9ms, total=555.9ms, count=1, min=555.9ms, max=555.9ms
+  task_specific_sample: mean=550.7ms, total=550.7ms, count=1, min=550.7ms, max=550.7ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=633.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:52:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:52:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:52:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:52:27 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:52:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048621m	[env.py: 870]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:52:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95882386  0.21642087  0.04862074] yaw=156.4deg	[env.py: 1019]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99711966  0.1160793   0.04862074] yaw=154.3deg	[env.py: 1019]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79345937  0.05295096  0.04862074] yaw=147.5deg	[env.py: 1019]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:52:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.7ms, total=142.7ms	[env.py: 1075]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.216, 0.049)	[env.py: 1079]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg	[env.py: 1082]
+05/10 21:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.790m	[env.py: 1086]
+05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:52:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:52:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:52:27 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:52:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:52:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:52:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:52:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:52:28 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.337[m] 82.136[deg]	[grasp_sample.py: 539]
+05/10 21:52:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:52:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:52:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:52:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:52:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:52:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:52:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:53:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:53:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:53:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:53:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:53:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:53:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:53:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:54:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:54:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:54:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:54:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:54:14 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.458s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:54:14 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.112[deg]	[grasp_sample.py: 539]
+05/10 21:54:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:54:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:54:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:54:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:27 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:54:27 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/10 21:54:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:54:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:54:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:54:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:54:28 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:54:28 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.183[deg]	[grasp_sample.py: 539]
+05/10 21:54:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:54:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:54:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:54:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:54:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:54:35 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:54:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:54:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:54:47 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:54:50 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:54:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:54:50 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:55:00 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:55:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:55:00 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:55:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:55:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:55:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:55:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:55:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.53s (batch: 4.39s, save: 9.14s)	[pipeline.py: 300]
+05/10 21:55:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:55:04 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.51s:
+  episode_total: mean=207.91s, total=207.91s, count=1, min=207907.9ms, max=207907.9ms
+  sensor_polling: mean=527.1ms, total=158.14s, count=300, min=439.9ms, max=1075.6ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9144.7ms, max=9144.7ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=17.6ms, max=92.1ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4386.1ms, max=4386.1ms
+  task_sampling: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
+  task_specific_sample: mean=506.6ms, total=506.6ms, count=1, min=506.6ms, max=506.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=611.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:55:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:55:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:55:06 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:55:06 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:55:06 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:55:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:55:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034045m	[env.py: 870]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:55:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90144487  0.55648879  0.03404549] yaw=-167.8deg	[env.py: 1019]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01136806  0.86071748  0.03404549] yaw=-148.9deg	[env.py: 1019]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:55:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.0ms, total=229.1ms	[env.py: 1075]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.556, 0.034)	[env.py: 1079]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg	[env.py: 1082]
+05/10 21:55:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:55:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:55:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:55:06 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:55:06 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:55:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:55:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:55:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:55:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:55:07 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:55:07 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 80.358[deg]	[grasp_sample.py: 539]
+05/10 21:55:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:55:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:55:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:55:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:55:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:55:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 21:55:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:55:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:55:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:55:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:55:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:55:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:55:13 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:55:13 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.772[deg]	[grasp_sample.py: 539]
+05/10 21:55:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:55:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:55:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.59s (batch: 4.36s, save: 11.23s)	[pipeline.py: 300]
+05/10 21:55:16 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
+  episode_total: mean=214.60s, total=214.60s, count=1, min=214599.2ms, max=214599.2ms
+  sensor_polling: mean=530.0ms, total=159.00s, count=300, min=444.3ms, max=951.1ms
+  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11228.7ms, max=11228.7ms
+  physics_step: mean=28.0ms, total=8.39s, count=300, min=16.0ms, max=94.2ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4363.2ms, max=4363.2ms
+  task_sampling: mean=520.2ms, total=520.2ms, count=1, min=520.2ms, max=520.2ms
+  task_specific_sample: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=430.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:55:16 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:55:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:55:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:55:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:55:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:55:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:55:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:55:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083523m	[env.py: 870]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:55:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70724624  0.43532496  0.08352347] yaw=169.8deg	[env.py: 1019]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02463451  1.15756238  0.08352347] yaw=-128.3deg	[env.py: 1019]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00654317  0.10379094  0.08352347] yaw=146.7deg	[env.py: 1019]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:55:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=625.1ms, total=625.2ms	[env.py: 1075]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.435, 0.084)	[env.py: 1079]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg	[env.py: 1082]
+05/10 21:55:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:55:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:55:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:55:19 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:55:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:55:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:55:19 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:55:19 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:55:19 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:55:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:55:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028664m	[env.py: 870]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:55:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:55:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:55:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70739797  0.61021926  0.0286643 ] yaw=-175.3deg	[env.py: 1019]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82686771  0.30506055  0.0286643 ] yaw=178.5deg	[env.py: 1019]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:55:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.197s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8239495   0.05751726  0.0286643 ] yaw=147.2deg	[env.py: 1019]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:55:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=452.1ms, total=452.2ms	[env.py: 1075]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.610, 0.029)	[env.py: 1079]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -175.3 deg	[env.py: 1082]
+05/10 21:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:55:20 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:55:20 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:55:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:55:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:55:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:55:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:55:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:55:21 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.521[m] 81.239[deg]	[grasp_sample.py: 539]
+05/10 21:55:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:55:21 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.355s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:55:21 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.570[m] 92.806[deg]	[grasp_sample.py: 539]
+05/10 21:55:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:55:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:55:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:55:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:55:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:55:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:55:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:55:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 17.09s (batch: 5.57s, save: 11.52s)	[pipeline.py: 300]
+05/10 21:55:27 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.73s:
+  episode_total: mean=208.25s, total=208.25s, count=1, min=208246.2ms, max=208246.2ms
+  sensor_polling: mean=515.9ms, total=154.77s, count=300, min=437.0ms, max=797.7ms
+  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11522.5ms, max=11522.5ms
+  physics_step: mean=24.3ms, total=7.30s, count=300, min=18.0ms, max=92.3ms
+  save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5570.9ms, max=5570.9ms
+  task_sampling: mean=733.1ms, total=733.1ms, count=1, min=733.1ms, max=733.1ms
+  task_specific_sample: mean=728.5ms, total=728.5ms, count=1, min=728.5ms, max=728.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=513.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:55:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:55:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:55:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:55:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:55:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:55:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:55:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074261m	[env.py: 870]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:55:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99003319  0.15016147  0.07426136] yaw=163.1deg	[env.py: 1019]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86637152  0.33454528  0.07426136] yaw=179.9deg	[env.py: 1019]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74804582  0.59796571  0.07426136] yaw=-175.6deg	[env.py: 1019]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:55:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.1ms, total=112.2ms	[env.py: 1075]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.150, 0.074)	[env.py: 1079]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg	[env.py: 1082]
+05/10 21:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.786m	[env.py: 1086]
+05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:55:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:55:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:55:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:55:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:55:29 INFO: [Worker 0] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:55:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:55:30 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.350[m] 83.647[deg]	[grasp_sample.py: 539]
+05/10 21:55:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:55:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:55:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:55:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:55:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:56:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:56:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:56:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:56:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:56:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:56:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:56:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:56:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:56:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:56:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:57:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:57:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:57:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:57:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:57:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:57:18 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:57:18 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.350[deg]	[grasp_sample.py: 539]
+05/10 21:57:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:57:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:57:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:57:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:57:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:57:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:57:49 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:57:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:58:05 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:58:06 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 21:58:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:58:11 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:58:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 21:58:11 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/10 21:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:58:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:58:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 21:58:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 21:58:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 21:58:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:58:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:58:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:58:19 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.600s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:58:19 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.850[deg]	[grasp_sample.py: 539]
+05/10 21:58:20 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 21:58:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:58:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:58:22 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:58:22 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:58:22 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:58:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:58:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039761m	[env.py: 870]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:58:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6706696   0.27095008  0.03976099] yaw=157.3deg	[env.py: 1019]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76062706  0.34917922  0.03976099] yaw=167.1deg	[env.py: 1019]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.60850849  0.40887708  0.03976099] yaw=175.7deg	[env.py: 1019]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:58:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.0ms, total=114.0ms	[env.py: 1075]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.271, 0.040)	[env.py: 1079]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 157.3 deg	[env.py: 1082]
+05/10 21:58:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m	[env.py: 1086]
+05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:58:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:58:22 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:58:22 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:58:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:58:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:58:22 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:58:22 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:58:23 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:58:23 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.589[m] 86.067[deg]	[grasp_sample.py: 539]
+05/10 21:58:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:58:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:58:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:58:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:58:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:58:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 13.87s (batch: 4.16s, save: 9.72s)	[pipeline.py: 300]
+05/10 21:58:26 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
+  episode_total: mean=200.29s, total=200.29s, count=1, min=200288.8ms, max=200288.8ms
+  sensor_polling: mean=522.4ms, total=150.97s, count=289, min=444.7ms, max=1019.5ms
+  save_trajectories: mean=9.72s, total=9.72s, count=1, min=9716.4ms, max=9716.4ms
+  physics_step: mean=24.3ms, total=7.01s, count=289, min=15.6ms, max=117.9ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.4ms, max=4158.4ms
+  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
+  task_specific_sample: mean=585.3ms, total=585.3ms, count=1, min=585.3ms, max=585.3ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=707.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:58:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:58:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:58:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:58:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:58:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:58:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:58:28 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:58:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:58:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:58:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037727m	[env.py: 870]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:58:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75472367  0.15853611  0.03772694] yaw=169.7deg	[env.py: 1019]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88006506  0.99104522  0.03772694] yaw=-156.9deg	[env.py: 1019]
+05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:58:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=828.8ms, total=828.9ms	[env.py: 1075]
+05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.159, 0.038)	[env.py: 1079]
+05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.7 deg	[env.py: 1082]
+05/10 21:58:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/10 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:58:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:58:29 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:58:29 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:58:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:58:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:58:29 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:58:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:58:30 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:58:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 21:58:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:58:31 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 21:58:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 21:58:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 21:58:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:58:31 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.567[m] 84.527[deg]	[grasp_sample.py: 539]
+05/10 21:58:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:58:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:58:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:58:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:58:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:58:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.68s (batch: 5.58s, save: 9.10s)	[pipeline.py: 300]
+05/10 21:58:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 21:58:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 21:58:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.85s (batch: 5.73s, save: 10.12s)	[pipeline.py: 300]
+05/10 21:58:46 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.93s:
+  episode_total: mean=208.47s, total=208.47s, count=1, min=208465.6ms, max=208465.6ms
+  sensor_polling: mean=513.0ms, total=153.91s, count=300, min=443.5ms, max=961.0ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9096.8ms, max=9096.8ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.6ms, max=62.9ms
+  save_batch_prep: mean=5.58s, total=5.58s, count=1, min=5581.0ms, max=5581.0ms
+  task_sampling: mean=928.7ms, total=928.7ms, count=1, min=928.7ms, max=928.7ms
+  task_specific_sample: mean=924.8ms, total=924.8ms, count=1, min=924.8ms, max=924.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=526.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:58:47 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=1.20s:
+  episode_total: mean=188.69s, total=377.38s, count=2, min=169579.9ms, max=207803.9ms
+  sensor_polling: mean=520.5ms, total=275.35s, count=529, min=440.1ms, max=965.8ms
+  physics_step: mean=24.1ms, total=12.75s, count=529, min=14.1ms, max=82.2ms
+  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10118.7ms, max=10118.7ms
+  save_batch_prep: mean=5.73s, total=5.73s, count=1, min=5731.7ms, max=5731.7ms
+  task_sampling: mean=597.6ms, total=1.20s, count=2, min=471.3ms, max=723.9ms
+  task_specific_sample: mean=593.2ms, total=1.19s, count=2, min=466.1ms, max=720.3ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.5ms, max=3.5ms
+  mj_forward_sync: mean=568.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 21:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:58:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:58:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:58:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096634m	[env.py: 870]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73278953  0.19767023  0.09663425] yaw=158.7deg	[env.py: 1019]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75277979  0.52039976  0.09663425] yaw=-174.6deg	[env.py: 1019]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.4ms	[env.py: 1075]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.198, 0.097)	[env.py: 1079]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg	[env.py: 1082]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 21:58:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 21:58:48 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:58:48 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 21:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 21:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 21:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097207m	[env.py: 870]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 21:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80486043  0.40697397  0.09720734] yaw=167.8deg	[env.py: 1019]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97649739  0.13381     0.09720734] yaw=160.4deg	[env.py: 1019]
+05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 21:58:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:58:49 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8630558   1.14903766  0.09720734] yaw=-149.4deg	[env.py: 1019]
+05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 21:58:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=317.4ms, total=317.5ms	[env.py: 1075]
+05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.407, 0.097)	[env.py: 1079]
+05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg	[env.py: 1082]
+05/10 21:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/10 21:58:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 21:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 21:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 21:58:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 21:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:58:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:58:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:58:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 21:58:49 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/10 21:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/10 21:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 21:58:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 21:58:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 21:58:49 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:58:49 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.545[m] 88.314[deg]	[grasp_sample.py: 539]
+05/10 21:58:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:58:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 21:58:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.494[m] 97.560[deg]	[grasp_sample.py: 539]
+05/10 21:58:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 21:58:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:58:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:58:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 21:58:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:59:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:59:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:59:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:59:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 21:59:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:59:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:59:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:59:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 21:59:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:00:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:00:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:00:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:00:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:00:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:01:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:01:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:01:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:01:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:01:07 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.407s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:01:07 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.654[deg]	[grasp_sample.py: 539]
+05/10 22:01:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:01:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:01:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:01:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:01:21 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:01:23 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:01:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:01:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:01:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:46 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:01:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 22:01:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:01:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:01:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:01:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:01:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:01:47 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:01:47 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:01:48 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.832s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:01:48 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.689[deg]	[grasp_sample.py: 539]
+05/10 22:01:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:01:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:01:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:01:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:01:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 22:01:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:01:49 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:02:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:02:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:02:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:02:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.79s (batch: 5.20s, save: 10.59s)	[pipeline.py: 300]
+05/10 22:02:02 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:02:03 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.21s:
+  episode_total: mean=214.52s, total=214.52s, count=1, min=214517.4ms, max=214517.4ms
+  sensor_polling: mean=524.3ms, total=157.28s, count=300, min=451.6ms, max=911.1ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10590.8ms, max=10590.8ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=17.8ms, max=84.9ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5197.7ms, max=5197.7ms
+  task_sampling: mean=1.21s, total=1.21s, count=1, min=1211.0ms, max=1211.0ms
+  task_specific_sample: mean=1.21s, total=1.21s, count=1, min=1206.0ms, max=1206.0ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=583.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:02:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:02:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:02:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:02:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:02:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:02:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:02:04 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:02:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:02:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:02:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025228m	[env.py: 870]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:02:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88835828  0.86658547  0.02522849] yaw=-157.2deg	[env.py: 1019]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89469971  0.11005201  0.02522849] yaw=165.9deg	[env.py: 1019]
+05/10 22:02:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:02:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.4ms	[env.py: 1075]
+05/10 22:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.867, 0.025)	[env.py: 1079]
+05/10 22:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg	[env.py: 1082]
+05/10 22:02:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/10 22:02:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:02:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:02:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:02:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:02:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:02:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 15.68s (batch: 5.39s, save: 10.29s)	[pipeline.py: 300]
+05/10 22:02:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:02:05 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:02:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:02:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:02:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:02:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:02:05 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.88s:
+  episode_total: mean=197.53s, total=395.06s, count=2, min=171566.7ms, max=223491.7ms
+  sensor_polling: mean=528.0ms, total=279.85s, count=530, min=432.0ms, max=994.2ms
+  physics_step: mean=26.1ms, total=13.84s, count=530, min=14.6ms, max=89.6ms
+  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10290.5ms, max=10290.5ms
+  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5394.0ms, max=5394.0ms
+  task_sampling: mean=442.4ms, total=884.8ms, count=2, min=397.5ms, max=487.3ms
+  task_specific_sample: mean=438.9ms, total=877.8ms, count=2, min=394.1ms, max=483.7ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=409.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.2us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:02:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:02:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.443[m] 81.931[deg]	[grasp_sample.py: 539]
+05/10 22:02:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:02:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:02:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:02:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:02:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:02:07 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:02:07 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:02:07 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:02:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:02:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016281m	[env.py: 870]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:02:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88048043  0.44562741  0.0162809 ] yaw=171.9deg	[env.py: 1019]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95309746  0.3913453   0.0162809 ] yaw=167.6deg	[env.py: 1019]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11030604  1.19160689  0.0162809 ] yaw=-133.0deg	[env.py: 1019]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:02:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.1ms, total=106.2ms	[env.py: 1075]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.446, 0.016)	[env.py: 1079]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 171.9 deg	[env.py: 1082]
+05/10 22:02:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:02:07 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:02:07 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:02:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:02:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:02:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:02:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:02:08 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:02:08 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.414[m] 98.442[deg]	[grasp_sample.py: 539]
+05/10 22:02:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:02:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:02:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:02:15 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:02:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 22:02:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:02:29 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:02:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 22:02:29 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:02:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:02:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:02:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.55s (batch: 5.48s, save: 11.07s)	[pipeline.py: 300]
+05/10 22:02:32 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.67s:
+  episode_total: mean=224.15s, total=224.15s, count=1, min=224145.8ms, max=224145.8ms
+  sensor_polling: mean=526.0ms, total=157.81s, count=300, min=436.6ms, max=1027.1ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11069.9ms, max=11069.9ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=85.9ms
+  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5483.5ms, max=5483.5ms
+  task_sampling: mean=665.8ms, total=665.8ms, count=1, min=665.8ms, max=665.8ms
+  task_specific_sample: mean=660.6ms, total=660.6ms, count=1, min=660.6ms, max=660.6ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=689.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:02:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:02:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:02:34 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:02:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:02:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:02:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:02:34 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:02:34 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:02:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:02:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053474m	[env.py: 870]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:02:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97236745  0.28452009  0.0534735 ] yaw=165.4deg	[env.py: 1019]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03148388  0.8365497   0.0534735 ] yaw=-158.1deg	[env.py: 1019]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8229714   0.65000169  0.0534735 ] yaw=-175.8deg	[env.py: 1019]
+05/10 22:02:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:02:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=102.3ms, total=102.4ms	[env.py: 1075]
+05/10 22:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.285, 0.053)	[env.py: 1079]
+05/10 22:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg	[env.py: 1082]
+05/10 22:02:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/10 22:02:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:02:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:02:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:02:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:02:35 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:02:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:02:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:02:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:02:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:02:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:02:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.342[m] 98.708[deg]	[grasp_sample.py: 539]
+05/10 22:02:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:02:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:02:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:02:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:02:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:02:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.15s (batch: 4.78s, save: 9.36s)	[pipeline.py: 300]
+05/10 22:02:43 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
+  episode_total: mean=235.45s, total=235.45s, count=1, min=235448.3ms, max=235448.3ms
+  sensor_polling: mean=522.4ms, total=156.71s, count=300, min=449.9ms, max=942.3ms
+  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9363.6ms, max=9363.6ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.8ms, max=109.6ms
+  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4782.9ms, max=4782.9ms
+  task_sampling: mean=522.2ms, total=522.2ms, count=1, min=522.2ms, max=522.2ms
+  task_specific_sample: mean=518.3ms, total=518.3ms, count=1, min=518.3ms, max=518.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=429.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:02:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:02:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:02:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:02:45 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:02:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:02:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:02:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094174m	[env.py: 870]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:02:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83648448  0.0151941   0.09417409] yaw=150.5deg	[env.py: 1019]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66754429  0.517225    0.09417409] yaw=-186.7deg	[env.py: 1019]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98588497  0.1850165   0.09417409] yaw=157.1deg	[env.py: 1019]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:02:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=170.2ms, total=170.3ms	[env.py: 1075]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.015, 0.094)	[env.py: 1079]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg	[env.py: 1082]
+05/10 22:02:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:02:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:02:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:02:46 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:02:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:02:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:02:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:02:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:02:48 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:02:48 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.576[m] 90.931[deg]	[grasp_sample.py: 539]
+05/10 22:02:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:02:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:02:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:02:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:02:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:03:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:03:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:03:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:03:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:03:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:03:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:03:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:03:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:04:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:04:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:04:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:04:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:04:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:04:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:04:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:04:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:04:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:04:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:04:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:04:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:04:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:04:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:04:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.398s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:04:15 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.560[deg]	[grasp_sample.py: 539]
+05/10 22:04:16 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 22:04:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:04:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:04:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:04:18 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:04:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:04:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:04:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003035m	[env.py: 870]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:04:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83256157  0.28707409  0.00303471] yaw=159.2deg	[env.py: 1019]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05470282  1.15865546  0.00303471] yaw=-122.8deg	[env.py: 1019]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77008942  0.69225005  0.00303471] yaw=-168.1deg	[env.py: 1019]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:04:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.5ms	[env.py: 1075]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.287, 0.003)	[env.py: 1079]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg	[env.py: 1082]
+05/10 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:04:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:04:18 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:04:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:04:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:04:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:04:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:04:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:04:19 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.487[m] 95.748[deg]	[grasp_sample.py: 539]
+05/10 22:04:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:04:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:04:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:04:52 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:04:57 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:05:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:05:20 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:05:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 22:05:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:05:25 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:05:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/10 22:05:25 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:05:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:05:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:05:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:05:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:05:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.21s (batch: 4.80s, save: 9.40s)	[pipeline.py: 300]
+05/10 22:05:35 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s:
+  episode_total: mean=210.25s, total=210.25s, count=1, min=210249.8ms, max=210249.8ms
+  sensor_polling: mean=516.8ms, total=155.03s, count=300, min=447.5ms, max=856.3ms
+  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9402.6ms, max=9402.6ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=14.1ms, max=83.9ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4804.6ms, max=4804.6ms
+  task_sampling: mean=559.3ms, total=559.3ms, count=1, min=559.3ms, max=559.3ms
+  task_specific_sample: mean=555.1ms, total=555.1ms, count=1, min=555.1ms, max=555.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=461.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:05:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:05:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:05:37 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:05:37 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:05:37 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:05:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:05:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017816m	[env.py: 870]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:05:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94152225  0.24854711  0.01781618] yaw=173.8deg	[env.py: 1019]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9563275   0.25922079  0.01781618] yaw=173.6deg	[env.py: 1019]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71388884  0.75362189  0.01781618] yaw=-171.9deg	[env.py: 1019]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:05:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.2ms	[env.py: 1075]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.249, 0.018)	[env.py: 1079]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg	[env.py: 1082]
+05/10 22:05:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.796m	[env.py: 1086]
+05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:05:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:05:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:05:37 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:05:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.152s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:05:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:05:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:05:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:05:39 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.113s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:05:39 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.415[m] 97.769[deg]	[grasp_sample.py: 539]
+05/10 22:05:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:05:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:05:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:05:41 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:05:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:05:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:05:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.45s (batch: 4.64s, save: 11.82s)	[pipeline.py: 300]
+05/10 22:05:42 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
+  episode_total: mean=215.30s, total=215.30s, count=1, min=215297.8ms, max=215297.8ms
+  sensor_polling: mean=523.6ms, total=157.07s, count=300, min=454.2ms, max=937.9ms
+  save_trajectories: mean=11.82s, total=11.82s, count=1, min=11818.2ms, max=11818.2ms
+  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.6ms, max=72.5ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.5ms, max=4635.5ms
+  task_sampling: mean=396.1ms, total=396.1ms, count=1, min=396.1ms, max=396.1ms
+  task_specific_sample: mean=391.5ms, total=391.5ms, count=1, min=391.5ms, max=391.5ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=503.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:05:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:05:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:05:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:05:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:05:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:05:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:05:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:05:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:05:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:05:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041763m	[env.py: 870]
+05/10 22:05:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:05:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08497557  1.0877005   0.04176253] yaw=-134.0deg	[env.py: 1019]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94964042  0.88900527  0.04176253] yaw=-149.0deg	[env.py: 1019]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10458435  1.10373391  0.04176253] yaw=-140.6deg	[env.py: 1019]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:05:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.4ms	[env.py: 1075]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.088, 0.042)	[env.py: 1079]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg	[env.py: 1082]
+05/10 22:05:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/10 22:05:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:05:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:05:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:05:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:05:45 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:05:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:05:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:05:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:05:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:05:47 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:05:47 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.413[m] 84.693[deg]	[grasp_sample.py: 539]
+05/10 22:05:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:05:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:05:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:06:07 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:06:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 22:06:07 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:06:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:06:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:06:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 16.98s (batch: 4.43s, save: 12.55s)	[pipeline.py: 300]
+05/10 22:06:24 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
+  episode_total: mean=218.90s, total=218.90s, count=1, min=218896.0ms, max=218896.0ms
+  sensor_polling: mean=537.5ms, total=161.25s, count=300, min=446.9ms, max=941.0ms
+  save_trajectories: mean=12.55s, total=12.55s, count=1, min=12549.3ms, max=12549.3ms
+  physics_step: mean=26.3ms, total=7.89s, count=300, min=18.7ms, max=75.1ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.6ms, max=4426.6ms
+  task_sampling: mean=494.6ms, total=494.6ms, count=1, min=494.6ms, max=494.6ms
+  task_specific_sample: mean=490.3ms, total=490.3ms, count=1, min=490.3ms, max=490.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=618.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:06:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:06:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:06:26 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:06:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074175m	[env.py: 870]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89333809  0.15431183  0.07417476] yaw=159.1deg	[env.py: 1019]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80279908  0.66985313  0.07417476] yaw=-160.2deg	[env.py: 1019]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15247277  1.10836574  0.07417476] yaw=-136.5deg	[env.py: 1019]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.4ms	[env.py: 1075]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.154, 0.074)	[env.py: 1079]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg	[env.py: 1082]
+05/10 22:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:06:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:06:26 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:06:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:06:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:06:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:06:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:06:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:06:27 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.465[m] 98.518[deg]	[grasp_sample.py: 539]
+05/10 22:06:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:06:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:06:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:06:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:06:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:06:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:06:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:06:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:06:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:07:13 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:07:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:07:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:07:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:07:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:34 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:07:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/10 22:07:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:07:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:07:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:07:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:07:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:07:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:07:36 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.442s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:07:36 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.445[deg]	[grasp_sample.py: 539]
+05/10 22:07:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:07:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:07:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:07:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:07:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:07:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:07:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:07:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:07:38 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.399s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:07:38 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.455[deg]	[grasp_sample.py: 539]
+05/10 22:07:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:07:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:07:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:07:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:07:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:07:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:07:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 12.77s (batch: 4.22s, save: 8.55s)	[pipeline.py: 300]
+05/10 22:07:48 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.19s:
+  episode_total: mean=155.88s, total=311.76s, count=2, min=101597.6ms, max=210163.2ms
+  sensor_polling: mean=532.3ms, total=241.67s, count=454, min=449.0ms, max=1024.8ms
+  physics_step: mean=26.8ms, total=12.15s, count=454, min=15.1ms, max=98.1ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.3ms, max=8549.3ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4216.9ms, max=4216.9ms
+  task_sampling: mean=593.9ms, total=1.19s, count=2, min=444.7ms, max=743.0ms
+  task_specific_sample: mean=590.1ms, total=1.18s, count=2, min=440.2ms, max=739.9ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.4ms, max=2.8ms
+  mj_forward_sync: mean=520.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:07:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:07:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:07:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:07:50 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:07:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:07:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:07:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052198m	[env.py: 870]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:07:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10353015  1.22202034  0.05219789] yaw=-133.8deg	[env.py: 1019]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81590013  0.69408719  0.05219789] yaw=-168.3deg	[env.py: 1019]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04813219  0.95348317  0.05219789] yaw=-143.9deg	[env.py: 1019]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:07:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.7ms, total=415.7ms	[env.py: 1075]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.104, 1.222, 0.052)	[env.py: 1079]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg	[env.py: 1082]
+05/10 22:07:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:07:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:07:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:07:51 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:07:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:07:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:07:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:07:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:07:53 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.587s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:07:53 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.465[deg]	[grasp_sample.py: 539]
+05/10 22:07:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:07:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:07:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:07:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:08:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:08:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:08:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:08:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:08:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:08:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 3.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:08:26 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.241[deg]	[grasp_sample.py: 539]
+05/10 22:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:29 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 22:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:08:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:08:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:08:30 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:08:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:08:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:08:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047933m	[env.py: 870]
+05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:08:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07651475  0.96683729  0.04793261] yaw=-143.9deg	[env.py: 1019]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95235692  0.27148443  0.04793261] yaw=167.1deg	[env.py: 1019]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72649085  0.86898473  0.04793261] yaw=-162.9deg	[env.py: 1019]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:08:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.6ms, total=305.6ms	[env.py: 1075]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.077, 0.967, 0.048)	[env.py: 1079]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
+05/10 22:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.792m	[env.py: 1086]
+05/10 22:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:08:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:08:31 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:08:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:08:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:08:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:08:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:08:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:08:32 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.377[m] 89.338[deg]	[grasp_sample.py: 539]
+05/10 22:08:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:08:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:08:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:08:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:08:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:08:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:08:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:08:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:08:43 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:08:43 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:08:44 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.428s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:08:44 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.459[deg]	[grasp_sample.py: 539]
+05/10 22:08:44 INFO: [Worker 0] Feasibility-checked 80 grasps in 3.076s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:08:44 INFO: [Worker 0] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.005[deg]	[grasp_sample.py: 539]
+05/10 22:08:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:08:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:08:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:08:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:08:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:08:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:08:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:00 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:09:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:09:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:09:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:09:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:09:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:09:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:09:04 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:09:04 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]	[grasp_sample.py: 539]
+05/10 22:09:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:09:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:09:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:09:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:09:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:09:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:09:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:09:20 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:09:20 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]	[grasp_sample.py: 539]
+05/10 22:09:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:09:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:09:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:09:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:09:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:09:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 22:09:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:09:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:09:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:09:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:09:40 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/10 22:09:41 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:09:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:09:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:09:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 17.65s (batch: 4.41s, save: 13.24s)	[pipeline.py: 300]
+05/10 22:09:42 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.66s:
+  episode_total: mean=245.38s, total=245.38s, count=1, min=245377.0ms, max=245377.0ms
+  sensor_polling: mean=535.2ms, total=160.56s, count=300, min=448.4ms, max=1169.7ms
+  save_trajectories: mean=13.24s, total=13.24s, count=1, min=13244.3ms, max=13244.3ms
+  physics_step: mean=24.3ms, total=7.28s, count=300, min=13.5ms, max=116.7ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4407.8ms, max=4407.8ms
+  task_sampling: mean=656.7ms, total=656.7ms, count=1, min=656.7ms, max=656.7ms
+  task_specific_sample: mean=652.2ms, total=652.2ms, count=1, min=652.2ms, max=652.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=552.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:09:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:09:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:09:44 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:09:44 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:09:44 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:09:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:09:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046465m	[env.py: 870]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:09:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83966533  0.72946256  0.04646467] yaw=-156.9deg	[env.py: 1019]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85826305  0.32023197  0.04646467] yaw=180.4deg	[env.py: 1019]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9128542   0.13184302  0.04646467] yaw=146.0deg	[env.py: 1019]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:09:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.5ms	[env.py: 1075]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.729, 0.046)	[env.py: 1079]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg	[env.py: 1082]
+05/10 22:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:09:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:09:44 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:09:44 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:09:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:09:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:09:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:09:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:09:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:09:45 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.419[m] 81.600[deg]	[grasp_sample.py: 539]
+05/10 22:09:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:09:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:09:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:00 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:10:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/10 22:10:00 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/10 22:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:10:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:10:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:10:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:10:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:10:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:10:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:10:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.64s (batch: 3.93s, save: 10.71s)	[pipeline.py: 300]
+05/10 22:10:15 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
+  episode_total: mean=229.60s, total=229.60s, count=1, min=229603.3ms, max=229603.3ms
+  sensor_polling: mean=516.9ms, total=131.30s, count=254, min=448.0ms, max=1143.8ms
+  save_trajectories: mean=10.71s, total=10.71s, count=1, min=10708.6ms, max=10708.6ms
+  physics_step: mean=25.3ms, total=6.41s, count=254, min=12.8ms, max=129.8ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3931.8ms, max=3931.8ms
+  task_sampling: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
+  task_specific_sample: mean=460.9ms, total=460.9ms, count=1, min=460.9ms, max=460.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=419.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:10:16 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:10:16 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]	[grasp_sample.py: 539]
+05/10 22:10:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:10:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:10:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:10:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:10:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:10:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:10:17 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:10:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:10:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:10:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010557m	[env.py: 870]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:10:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96454673  0.80953441  0.01055669] yaw=-154.5deg	[env.py: 1019]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79692637  0.62038593  0.01055669] yaw=-160.2deg	[env.py: 1019]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10745522  1.06553463  0.01055669] yaw=-142.1deg	[env.py: 1019]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:10:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.7ms	[env.py: 1075]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.810, 0.011)	[env.py: 1079]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg	[env.py: 1082]
+05/10 22:10:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:10:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:10:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:10:17 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:10:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:10:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:10:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:10:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:10:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:10:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.342[m] 74.141[deg]	[grasp_sample.py: 539]
+05/10 22:10:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:10:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:10:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:10:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:10:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:10:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:10:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:10:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:10:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:10:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:10:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:10:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:10:56 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:10:56 INFO: [Worker 0] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:10:57 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:10:57 INFO: [Worker 0] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.369[deg]	[grasp_sample.py: 539]
+05/10 22:10:58 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 22:11:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:11:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:11:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:11:00 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:11:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:11:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:11:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020140m	[env.py: 870]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:11:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79666439  0.71377634  0.02013954] yaw=-174.9deg	[env.py: 1019]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11659464  0.95457088  0.02013954] yaw=-141.8deg	[env.py: 1019]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04918715  1.3036637   0.02013954] yaw=-126.0deg	[env.py: 1019]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:11:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=353.2ms, total=353.2ms	[env.py: 1075]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.714, 0.020)	[env.py: 1079]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg	[env.py: 1082]
+05/10 22:11:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:11:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:11:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:11:01 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:11:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:11:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:11:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:11:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:11:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:11:01 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:11:01 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.526[m] 91.852[deg]	[grasp_sample.py: 539]
+05/10 22:11:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:11:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:11:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:11:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:11:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:11:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:11:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:11:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:11:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/10 22:11:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/10 22:11:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/10 22:11:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:11:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:11:24 INFO: [Worker 0] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:11:26 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.722s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:11:26 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg]	[grasp_sample.py: 539]
+05/10 22:11:27 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/10 22:11:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:11:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:11:29 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:11:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:11:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:11:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:11:29 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:11:29 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:11:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:11:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009676m	[env.py: 870]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:11:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8434122   0.42000288  0.00967631] yaw=186.8deg	[env.py: 1019]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:11:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=400.7ms, total=400.7ms	[env.py: 1075]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.420, 0.010)	[env.py: 1079]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg	[env.py: 1082]
+05/10 22:11:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/10 22:11:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:11:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:11:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:11:30 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:11:30 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:11:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:11:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:11:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:11:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:11:30 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:11:30 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.454[m] 95.338[deg]	[grasp_sample.py: 539]
+05/10 22:11:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:11:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:11:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:11:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:12:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:12:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:12:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:12:28 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:12:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/10 22:12:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/10 22:12:54 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009	[pipeline.py: 1174]
+05/10 22:12:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/10 22:12:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/10 22:13:00 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/10 22:13:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/10 22:13:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009	[save_utils.py: 785]
+05/10 22:13:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_009 in 14.81s (batch: 4.97s, save: 9.84s)	[pipeline.py: 300]
+05/10 22:13:10 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
+  episode_total: mean=205.89s, total=205.89s, count=1, min=205886.0ms, max=205886.0ms
+  sensor_polling: mean=504.9ms, total=151.48s, count=300, min=437.0ms, max=897.5ms
+  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9844.9ms, max=9844.9ms
+  physics_step: mean=23.7ms, total=7.11s, count=300, min=17.9ms, max=66.7ms
+  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4967.5ms, max=4967.5ms
+  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
+  task_specific_sample: mean=452.3ms, total=452.3ms, count=1, min=452.3ms, max=452.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=433.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/10 22:13:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/10 22:13:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/10 22:13:11 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:13:11 WARNING: [Worker 0] No image features for Fridge_7_upside_down, ignoring.	[object_manager.py: 1078]
+05/10 22:13:11 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/10 22:13:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/10 22:13:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000358m	[env.py: 870]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/10 22:13:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius	[env.py: 907]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.57590381e-01  1.01017207e+00  3.58128945e-04] yaw=-152.3deg	[env.py: 1019]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00865127e+00  1.18409291e-01  3.58128945e-04] yaw=162.8deg	[env.py: 1019]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/10 22:13:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=200.9ms	[env.py: 1075]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.858, 1.010, 0.000)	[env.py: 1079]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg	[env.py: 1082]
+05/10 22:13:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/10 22:13:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/10 22:13:12 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/10 22:13:12 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/10 22:13:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/10 22:13:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/10 22:13:12 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/10 22:13:12 INFO: [Worker 0] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/10 22:13:14 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/10 22:13:14 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.534[m] 81.095[deg]	[grasp_sample.py: 539]
+05/10 22:13:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/10 22:13:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/10 22:13:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
diff --git a/fridge_7/chunk_009/shard_1_of_4.log b/fridge_7/chunk_009/shard_1_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..eaa4d3f4b9ea47bab145cb4c105cbfe2719cec63
--- /dev/null
+++ b/fridge_7/chunk_009/shard_1_of_4.log
@@ -0,0 +1,1251 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_009
+  shard=1/4  seed=20901  samples=3
+  CUDA_VISIBLE_DEVICES=0
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:37:47 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 21:37:47 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 21:37:47 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_009'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 21:37:47 INFO pipeline.py:1367] {'batch_num': 1,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7651505da210>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20901,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:37:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 21:37:47 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 21:37:47 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 130091609436560 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130091609436560 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 130091609436560 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 130091609436560 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 130091613639952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130091613639952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130091613650000 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130091613650000 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130091613650000 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130091613650000 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130091613639952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130091613639952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130091609501904 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130091609501904 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 130091609494480 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130091609494480 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 130091609494480 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 130091609494480 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 130091609501904 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 130091609501904 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 21:37:48 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5d0abfad46a0 at 0x765150b47690>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d0abfb01f30 at 0x765150b53310>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5d0abfb01f30 at 0x765150ad9410>
+[05/10 21:37:50 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:37:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/10 21:37:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:37:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:37:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096752m
+[05/10 21:37:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:37:50 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 21:37:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88367914  0.82637319  0.09675237] yaw=-157.1deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.78555103  0.71418601  0.09675237] yaw=-177.1deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86616667  0.39236449  0.09675237] yaw=172.3deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:37:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:37:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=44.5ms, retries=130.7ms, total=175.2ms
+[05/10 21:37:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.884, 0.826, 0.097)
+[05/10 21:37:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.1 deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.888m
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:37:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:37:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 21:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 28.556s
+[05/10 21:38:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:38:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:38:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.084s, found 88 non-colliding grasps
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.255s, found feasible grasp: True
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.416[m] 78.512[deg]
+[05/10 21:38:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:39:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:39:16 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:39:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:41:09 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 21:41:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:41:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
+[05/10 21:41:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:41:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 21:41:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:41:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.79s (batch: 4.21s, save: 8.59s)
+[05/10 21:41:44 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=3.51s:
+  episode_total: mean=236.22s, total=236.22s, count=1, min=236223.9ms, max=236223.9ms
+  sensor_polling: mean=523.7ms, total=157.12s, count=300, min=447.7ms, max=1051.1ms
+  save_trajectories: mean=8.59s, total=8.59s, count=1, min=8586.1ms, max=8586.1ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=18.6ms, max=70.6ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4208.1ms, max=4208.1ms
+  task_sampling: mean=3.51s, total=3.51s, count=1, min=3508.2ms, max=3508.2ms
+  scene_load: mean=2.97s, total=2.97s, count=1, min=2973.9ms, max=2973.9ms
+  scene_env_create: mean=1.65s, total=1.65s, count=1, min=1649.9ms, max=1649.9ms
+  scene_compile: mean=1.11s, total=1.11s, count=1, min=1105.0ms, max=1105.0ms
+  compile_mujoco: mean=737.3ms, total=737.3ms, count=1, min=737.3ms, max=737.3ms
+  task_specific_sample: mean=530.0ms, total=530.0ms, count=1, min=530.0ms, max=530.0ms
+  compile_xml_load: mean=275.6ms, total=275.6ms, count=1, min=275.6ms, max=275.6ms
+  scene_init: mean=129.9ms, total=129.9ms, count=1, min=129.9ms, max=129.9ms
+  scene_asset_install: mean=88.8ms, total=88.8ms, count=1, min=88.8ms, max=88.8ms
+  compile_aux_objects: mean=74.0ms, total=74.0ms, count=1, min=74.0ms, max=74.0ms
+  compile_aux_policy_objects: mean=73.9ms, total=73.9ms, count=1, min=73.9ms, max=73.9ms
+  asset_install_grasps: mean=67.7ms, total=67.7ms, count=1, min=67.7ms, max=67.7ms
+  asset_install_objects: mean=17.6ms, total=17.6ms, count=1, min=17.6ms, max=17.6ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=913.4us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:41:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:41:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:41:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:41:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:41:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:41:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:41:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:41:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:41:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:41:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:41:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 21:41:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:41:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:41:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040138m
+[05/10 21:41:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:41:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:41:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:41:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92959355  0.48000957  0.04013848] yaw=190.2deg
+[05/10 21:41:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:41:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 118.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 112.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:46 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.85333759  0.44740435  0.04013848] yaw=170.6deg
+[05/10 21:41:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:41:46 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04978676  1.11991253  0.04013848] yaw=-131.8deg
+[05/10 21:41:46 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:41:46 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:41:46 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.9ms, total=154.0ms
+[05/10 21:41:46 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.480, 0.040)
+[05/10 21:41:46 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 190.2 deg
+[05/10 21:41:46 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.773m
+[05/10 21:41:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:41:46 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:41:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:41:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:41:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:41:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 21:41:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.076s
+[05/10 21:41:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:41:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:41:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:41:46 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.475s, found feasible grasp: True
+[05/10 21:41:46 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.368[m] 87.589[deg]
+[05/10 21:41:46 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:41:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:42:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:42:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:42:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:43:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:43:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:43:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:43:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:43:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:43:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:43:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:43:30 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:43:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:43:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:43:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
+[05/10 21:43:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.449s, found feasible grasp: True
+[05/10 21:43:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.452[deg]
+[05/10 21:43:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:43:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:43:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:43:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:43:51 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:43:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:44:31 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:44:52 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:44:52 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
+[05/10 21:44:52 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:45:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:45:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:45:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.47s (batch: 4.36s, save: 9.11s)
+[05/10 21:45:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=200.65s, total=200.65s, count=1, min=200645.7ms, max=200645.7ms
+  sensor_polling: mean=487.1ms, total=146.14s, count=300, min=459.1ms, max=723.9ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9111.5ms, max=9111.5ms
+  physics_step: mean=21.8ms, total=6.54s, count=300, min=15.6ms, max=54.9ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4357.8ms, max=4357.8ms
+  task_sampling: mean=416.6ms, total=416.6ms, count=1, min=416.6ms, max=416.6ms
+  task_specific_sample: mean=412.6ms, total=412.6ms, count=1, min=412.6ms, max=412.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=426.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:45:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:45:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:45:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:45:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:45:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:45:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:45:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:45:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:45:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:45:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:45:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)
+[05/10 21:45:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:45:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:45:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098763m
+[05/10 21:45:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:45:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:45:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:45:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:45:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:45:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8174192   0.54966417  0.09876346] yaw=-167.1deg
+[05/10 21:45:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:45:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84673044  0.86195046  0.09876346] yaw=-150.9deg
+[05/10 21:45:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:45:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:45:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.85788473  0.94650947  0.09876346] yaw=-148.0deg
+[05/10 21:45:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:45:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:45:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.3ms, total=185.3ms
+[05/10 21:45:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.817, 0.550, 0.099)
+[05/10 21:45:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.1 deg
+[05/10 21:45:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.888m
+[05/10 21:45:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:45:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:45:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:45:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:45:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:45:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 21:45:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.077s
+[05/10 21:45:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:45:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:45:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:45:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True
+[05/10 21:45:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.475[m] 97.656[deg]
+[05/10 21:45:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:45:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:45:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:45:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:46:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:46:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:47:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:48:05 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:48:05 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
+[05/10 21:48:05 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:48:19 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:48:19 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:48:19 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.32s (batch: 4.42s, save: 9.89s)
+[05/10 21:48:20 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
+  episode_total: mean=191.90s, total=191.90s, count=1, min=191900.9ms, max=191900.9ms
+  sensor_polling: mean=483.6ms, total=145.08s, count=300, min=442.8ms, max=652.1ms
+  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9893.8ms, max=9893.8ms
+  physics_step: mean=22.1ms, total=6.62s, count=300, min=16.7ms, max=35.1ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4423.2ms, max=4423.2ms
+  task_sampling: mean=489.4ms, total=489.4ms, count=1, min=489.4ms, max=489.4ms
+  task_specific_sample: mean=485.5ms, total=485.5ms, count=1, min=485.5ms, max=485.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=495.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:48:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:48:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:48:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:48:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:48:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:48:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)
+[05/10 21:48:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:48:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:48:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.004371m
+[05/10 21:48:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:48:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:48:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.94898013  0.3890341   0.00437123] yaw=180.9deg
+[05/10 21:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:48:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.95540073  1.06488743  0.00437123] yaw=-142.6deg
+[05/10 21:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:48:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.81399103  0.06148873  0.00437123] yaw=162.9deg
+[05/10 21:48:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:48:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:48:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=247.0ms, total=247.0ms
+[05/10 21:48:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.949, 0.389, 0.004)
+[05/10 21:48:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 180.9 deg
+[05/10 21:48:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.759m
+[05/10 21:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:48:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 21:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.132s
+[05/10 21:48:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:48:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:48:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 21:48:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.787s, found feasible grasp: True
+[05/10 21:48:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.326[m] 90.054[deg]
+[05/10 21:48:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:48:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:48:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:49:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:49:11 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:49:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:49:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:49:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:50:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:50:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:50:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:50:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:50:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:50:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:50:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:50:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:50:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
+[05/10 21:50:12 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.645s, found feasible grasp: True
+[05/10 21:50:12 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.538[deg]
+[05/10 21:50:12 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:50:13 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:50:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:50:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:50:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:50:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:51:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:51:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:51:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:51:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:51:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:51:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:51:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:51:25 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 21:51:25 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:51:25 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:51:25 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 80 non-colliding grasps
+[05/10 21:51:29 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 3.945s, found feasible grasp: True
+[05/10 21:51:29 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.030[deg]
+[05/10 21:51:29 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:51:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:51:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:51:43 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:52:10 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:52:10 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
+[05/10 21:52:10 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:52:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:52:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:52:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.79s (batch: 4.51s, save: 9.28s)
+[05/10 21:52:25 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.56s:
+  episode_total: mean=243.26s, total=243.26s, count=1, min=243262.4ms, max=243262.4ms
+  sensor_polling: mean=528.7ms, total=158.60s, count=300, min=443.1ms, max=1119.9ms
+  save_trajectories: mean=9.28s, total=9.28s, count=1, min=9275.6ms, max=9275.6ms
+  physics_step: mean=24.8ms, total=7.43s, count=300, min=15.6ms, max=84.5ms
+  save_batch_prep: mean=4.51s, total=4.51s, count=1, min=4511.5ms, max=4511.5ms
+  task_sampling: mean=555.9ms, total=555.9ms, count=1, min=555.9ms, max=555.9ms
+  task_specific_sample: mean=550.7ms, total=550.7ms, count=1, min=550.7ms, max=550.7ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=633.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:52:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:52:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:52:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:52:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:52:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:52:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:52:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:52:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:52:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:52:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:52:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.049m, effective arm-mount z=0.909m (base_body_z=0.049m, pedestal_h=0.860m)
+[05/10 21:52:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:52:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:52:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.048621m
+[05/10 21:52:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:52:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:52:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95882386  0.21642087  0.04862074] yaw=156.4deg
+[05/10 21:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.99711966  0.1160793   0.04862074] yaw=154.3deg
+[05/10 21:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:52:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 110.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:52:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:52:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:52:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.79345937  0.05295096  0.04862074] yaw=147.5deg
+[05/10 21:52:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:52:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:52:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.7ms, total=142.7ms
+[05/10 21:52:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.216, 0.049)
+[05/10 21:52:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 156.4 deg
+[05/10 21:52:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.790m
+[05/10 21:52:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:52:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:52:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:52:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:52:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:52:27 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 21:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 21:52:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:52:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:52:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps
+[05/10 21:52:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.656s, found feasible grasp: True
+[05/10 21:52:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.337[m] 82.136[deg]
+[05/10 21:52:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:52:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:52:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:53:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:53:23 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:54:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:54:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:54:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:54:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:54:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:54:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:54:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:54:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:54:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:54:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:54:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:54:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:54:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 80 non-colliding grasps
+[05/10 21:54:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.458s, found feasible grasp: True
+[05/10 21:54:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.112[deg]
+[05/10 21:54:15 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:54:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:54:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:54:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:54:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:54:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:54:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:54:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:54:39 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:54:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:54:57 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:54:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:55:00 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:55:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:55:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:55:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:55:10 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 21:55:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:55:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:55:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 76 non-colliding grasps
+[05/10 21:55:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 2.664s, found feasible grasp: True
+[05/10 21:55:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.772[deg]
+[05/10 21:55:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:55:19 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:55:19 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:55:19 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:55:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:55:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:55:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:55:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:55:19 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:55:19 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:55:19 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:55:19 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)
+[05/10 21:55:19 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:55:19 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:55:19 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028664m
+[05/10 21:55:19 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:55:19 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:55:19 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:55:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:19 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70739797  0.61021926  0.0286643 ] yaw=-175.3deg
+[05/10 21:55:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:55:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.82686771  0.30506055  0.0286643 ] yaw=178.5deg
+[05/10 21:55:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:55:19 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8239495   0.05751726  0.0286643 ] yaw=147.2deg
+[05/10 21:55:19 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:55:19 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:55:19 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=452.1ms, total=452.2ms
+[05/10 21:55:19 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.610, 0.029)
+[05/10 21:55:19 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -175.3 deg
+[05/10 21:55:19 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.003m
+[05/10 21:55:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:55:19 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:55:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:55:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:55:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:55:20 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 21:55:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 21:55:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:55:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:55:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.106s, found 88 non-colliding grasps
+[05/10 21:55:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.355s, found feasible grasp: True
+[05/10 21:55:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.570[m] 92.806[deg]
+[05/10 21:55:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:55:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:56:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:56:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:56:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:58:05 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:58:30 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:58:30 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
+[05/10 21:58:30 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:58:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:58:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:58:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.85s (batch: 5.73s, save: 10.12s)
+[05/10 21:58:47 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=1.20s:
+  episode_total: mean=188.69s, total=377.38s, count=2, min=169579.9ms, max=207803.9ms
+  sensor_polling: mean=520.5ms, total=275.35s, count=529, min=440.1ms, max=965.8ms
+  physics_step: mean=24.1ms, total=12.75s, count=529, min=14.1ms, max=82.2ms
+  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10118.7ms, max=10118.7ms
+  save_batch_prep: mean=5.73s, total=5.73s, count=1, min=5731.7ms, max=5731.7ms
+  task_sampling: mean=597.6ms, total=1.20s, count=2, min=471.3ms, max=723.9ms
+  task_specific_sample: mean=593.2ms, total=1.19s, count=2, min=466.1ms, max=720.3ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=1.5ms, max=3.5ms
+  mj_forward_sync: mean=568.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:58:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:58:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:58:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/10 21:58:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:58:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:58:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.097207m
+[05/10 21:58:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:58:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:58:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:58:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80486043  0.40697397  0.09720734] yaw=167.8deg
+[05/10 21:58:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97649739  0.13381     0.09720734] yaw=160.4deg
+[05/10 21:58:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:58:49 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.8630558   1.14903766  0.09720734] yaw=-149.4deg
+[05/10 21:58:49 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:58:49 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:58:49 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=317.4ms, total=317.5ms
+[05/10 21:58:49 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.805, 0.407, 0.097)
+[05/10 21:58:49 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 167.8 deg
+[05/10 21:58:49 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.901m
+[05/10 21:58:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:58:49 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:58:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:58:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:58:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:58:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 21:58:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 21:58:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:58:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:58:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 21:58:50 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True
+[05/10 21:58:50 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.494[m] 97.560[deg]
+[05/10 21:58:50 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:59:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:59:59 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:00:04 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:00:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:00:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:00:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:01:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:01:02 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:01:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:01:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:01:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:01:07 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:01:07 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 22:01:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:01:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:01:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 22:01:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.407s, found feasible grasp: True
+[05/10 22:01:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.654[deg]
+[05/10 22:01:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:01:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:01:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:01:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:01:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:01:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:01:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:02:15 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:02:15 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
+[05/10 22:02:15 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:02:32 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:02:32 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:02:32 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 16.55s (batch: 5.48s, save: 11.07s)
+[05/10 22:02:32 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.67s:
+  episode_total: mean=224.15s, total=224.15s, count=1, min=224145.8ms, max=224145.8ms
+  sensor_polling: mean=526.0ms, total=157.81s, count=300, min=436.6ms, max=1027.1ms
+  save_trajectories: mean=11.07s, total=11.07s, count=1, min=11069.9ms, max=11069.9ms
+  physics_step: mean=26.4ms, total=7.93s, count=300, min=15.6ms, max=85.9ms
+  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5483.5ms, max=5483.5ms
+  task_sampling: mean=665.8ms, total=665.8ms, count=1, min=665.8ms, max=665.8ms
+  task_specific_sample: mean=660.6ms, total=660.6ms, count=1, min=660.6ms, max=660.6ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=689.6us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=22.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:02:34 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:02:34 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:02:34 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:02:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:02:34 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:02:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:02:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:02:34 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:02:34 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:02:34 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:02:34 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 22:02:34 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:02:34 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:02:34 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053474m
+[05/10 22:02:34 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:02:34 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:02:34 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:02:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97236745  0.28452009  0.0534735 ] yaw=165.4deg
+[05/10 22:02:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:02:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.03148388  0.8365497   0.0534735 ] yaw=-158.1deg
+[05/10 22:02:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:02:34 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 124.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:34 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8229714   0.65000169  0.0534735 ] yaw=-175.8deg
+[05/10 22:02:34 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:02:35 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:02:35 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=102.3ms, total=102.4ms
+[05/10 22:02:35 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.972, 0.285, 0.053)
+[05/10 22:02:35 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg
+[05/10 22:02:35 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.756m
+[05/10 22:02:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:02:35 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:02:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:02:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:02:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:02:35 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 22:02:35 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.097s
+[05/10 22:02:35 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:02:35 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:02:35 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 22:02:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
+[05/10 22:02:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.342[m] 98.708[deg]
+[05/10 22:02:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:02:36 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:02:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:03:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:03:27 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:03:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:04:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:04:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:04:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:04:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:04:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:04:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:04:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:04:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:04:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 22:04:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:04:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:04:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.075s, found 78 non-colliding grasps
+[05/10 22:04:15 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.398s, found feasible grasp: True
+[05/10 22:04:15 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.560[deg]
+[05/10 22:04:16 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 22:04:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:04:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:04:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:04:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:04:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:04:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:04:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:04:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:04:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:04:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:04:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.003m, effective arm-mount z=0.863m (base_body_z=0.003m, pedestal_h=0.860m)
+[05/10 22:04:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:04:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:04:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003035m
+[05/10 22:04:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:04:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:04:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:04:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:04:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.83256157  0.28707409  0.00303471] yaw=159.2deg
+[05/10 22:04:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:04:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.05470282  1.15865546  0.00303471] yaw=-122.8deg
+[05/10 22:04:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:04:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77008942  0.69225005  0.00303471] yaw=-168.1deg
+[05/10 22:04:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:04:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:04:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=229.5ms, total=229.5ms
+[05/10 22:04:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.833, 0.287, 0.003)
+[05/10 22:04:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.2 deg
+[05/10 22:04:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.891m
+[05/10 22:04:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:04:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:04:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:04:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:04:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:04:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 22:04:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.057s
+[05/10 22:04:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:04:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:04:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 88 non-colliding grasps
+[05/10 22:04:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True
+[05/10 22:04:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.487[m] 95.748[deg]
+[05/10 22:04:19 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:04:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:05:15 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:05:26 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:05:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:07:13 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:07:34 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:07:34 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 1/4: 1 episodes
+[05/10 22:07:34 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:07:47 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:07:47 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:07:47 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.77s (batch: 4.22s, save: 8.55s)
+[05/10 22:07:48 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=1.19s:
+  episode_total: mean=155.88s, total=311.76s, count=2, min=101597.6ms, max=210163.2ms
+  sensor_polling: mean=532.3ms, total=241.67s, count=454, min=449.0ms, max=1024.8ms
+  physics_step: mean=26.8ms, total=12.15s, count=454, min=15.1ms, max=98.1ms
+  save_trajectories: mean=8.55s, total=8.55s, count=1, min=8549.3ms, max=8549.3ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4216.9ms, max=4216.9ms
+  task_sampling: mean=593.9ms, total=1.19s, count=2, min=444.7ms, max=743.0ms
+  task_specific_sample: mean=590.1ms, total=1.18s, count=2, min=440.2ms, max=739.9ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.4ms, max=2.8ms
+  mj_forward_sync: mean=520.0us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=23.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 22:07:50 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:07:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:07:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:07:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:07:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:07:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:07:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:07:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:07:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:07:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:07:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)
+[05/10 22:07:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:07:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:07:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052198m
+[05/10 22:07:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:07:50 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:07:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:07:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.10353015  1.22202034  0.05219789] yaw=-133.8deg
+[05/10 22:07:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:07:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:07:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:07:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:07:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:07:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81590013  0.69408719  0.05219789] yaw=-168.3deg
+[05/10 22:07:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:07:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.04813219  0.95348317  0.05219789] yaw=-143.9deg
+[05/10 22:07:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:07:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:07:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.7ms, total=415.7ms
+[05/10 22:07:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.104, 1.222, 0.052)
+[05/10 22:07:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -133.8 deg
+[05/10 22:07:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.952m
+[05/10 22:07:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:07:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:07:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:07:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:07:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:07:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 22:07:51 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.127s
+[05/10 22:07:51 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:07:51 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:07:51 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.092s, found 88 non-colliding grasps
+[05/10 22:07:53 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.587s, found feasible grasp: True
+[05/10 22:07:53 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.532[m] 89.465[deg]
+[05/10 22:07:54 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:07:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:09:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:09:59 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:10:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:10:03 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:10:05 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:10:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:10:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:10:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:10:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:10:14 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:10:14 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 22:10:14 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:10:14 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:10:14 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 76 non-colliding grasps
+[05/10 22:10:16 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.524s, found feasible grasp: True
+[05/10 22:10:16 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.332[deg]
+[05/10 22:10:16 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:10:16 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:10:16 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:10:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:10:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:10:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:10:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:10:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:10:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:10:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:10:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:10:53 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:10:54 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:10:56 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 22:10:56 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:10:56 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:10:56 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 22:10:57 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 1.633s, found feasible grasp: True
+[05/10 22:10:57 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 224 (originally 109): w/ 0.118[m] 2.369[deg]
+[05/10 22:10:58 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 22:11:00 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:11:00 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:11:00 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:11:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:11:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:11:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:11:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:11:00 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:11:00 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:11:00 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:11:00 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.020m, effective arm-mount z=0.880m (base_body_z=0.020m, pedestal_h=0.860m)
+[05/10 22:11:00 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:11:00 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:11:00 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.020140m
+[05/10 22:11:00 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:11:00 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:11:00 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:11:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:11:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:11:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79666439  0.71377634  0.02013954] yaw=-174.9deg
+[05/10 22:11:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:11:00 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 99.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:11:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11659464  0.95457088  0.02013954] yaw=-141.8deg
+[05/10 22:11:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:11:00 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.04918715  1.3036637   0.02013954] yaw=-126.0deg
+[05/10 22:11:00 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:11:00 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:11:00 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=353.2ms, total=353.2ms
+[05/10 22:11:00 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.797, 0.714, 0.020)
+[05/10 22:11:00 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -174.9 deg
+[05/10 22:11:00 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.935m
+[05/10 22:11:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:11:00 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:11:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:11:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:11:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:11:01 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 22:11:01 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.048s
+[05/10 22:11:01 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:11:01 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:11:01 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 22:11:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.528s, found feasible grasp: True
+[05/10 22:11:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.526[m] 91.852[deg]
+[05/10 22:11:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:11:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:11:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:12:08 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:12:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
diff --git a/fridge_7/chunk_009/shard_2_of_4.log b/fridge_7/chunk_009/shard_2_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..7f627fbd9a5eb046dcff33f1fba04fdae1987a73
--- /dev/null
+++ b/fridge_7/chunk_009/shard_2_of_4.log
@@ -0,0 +1,1092 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_009
+  shard=2/4  seed=20902  samples=3
+  CUDA_VISIBLE_DEVICES=1
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:37:46 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 21:37:46 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 21:37:46 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_009'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 21:37:46 INFO pipeline.py:1367] {'batch_num': 2,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x7fb4054f9350>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20902,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:37:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 21:37:46 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 21:37:46 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 140411153251408 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 140411153251408 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 140411153251408 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 140411153251408 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 140411157723280 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 140411157723280 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 140411157724560 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 140411157724560 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 140411157724560 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 140411157724560 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 140411157723280 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 140411157723280 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 140411153416976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 140411153416976 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 140411153417680 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 140411153417680 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 140411153417680 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 140411153417680 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 140411153416976 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 140411153416976 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 21:37:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5a5be1e7b420 at 0x7fb405737690>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5a5be1e7ced0 at 0x7fb405743010>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5a5be1e7ced0 at 0x7fb4056cd390>
+[05/10 21:37:50 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:37:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 21:37:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:37:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:37:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013058m
+[05/10 21:37:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:37:50 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 21:37:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 102.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.70194614  0.65822738  0.01305819] yaw=-161.9deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.945628    0.32045988  0.01305819] yaw=170.1deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:37:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:37:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=63.3ms, retries=215.3ms, total=278.6ms
+[05/10 21:37:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.702, 0.658, 0.013)
+[05/10 21:37:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -161.9 deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.016m
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:37:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:37:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 21:38:20 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.017s
+[05/10 21:38:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:38:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:38:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.547[m] 87.428[deg]
+[05/10 21:38:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:39:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:39:33 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:39:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:41:07 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 21:41:28 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:41:28 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 21:41:28 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:41:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 21:41:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:41:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.67s (batch: 4.39s, save: 8.28s)
+[05/10 21:41:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.62s:
+  episode_total: mean=235.16s, total=235.16s, count=1, min=235156.8ms, max=235156.8ms
+  sensor_polling: mean=516.3ms, total=154.89s, count=300, min=436.3ms, max=880.3ms
+  save_trajectories: mean=8.28s, total=8.28s, count=1, min=8276.1ms, max=8276.1ms
+  physics_step: mean=24.0ms, total=7.19s, count=300, min=17.8ms, max=68.0ms
+  task_sampling: mean=4.62s, total=4.62s, count=1, min=4624.7ms, max=4624.7ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4390.4ms, max=4390.4ms
+  scene_load: mean=3.98s, total=3.98s, count=1, min=3984.0ms, max=3984.0ms
+  scene_env_create: mean=2.50s, total=2.50s, count=1, min=2499.2ms, max=2499.2ms
+  scene_compile: mean=1.24s, total=1.24s, count=1, min=1238.1ms, max=1238.1ms
+  compile_mujoco: mean=979.4ms, total=979.4ms, count=1, min=979.4ms, max=979.4ms
+  task_specific_sample: mean=633.0ms, total=633.0ms, count=1, min=633.0ms, max=633.0ms
+  scene_init: mean=203.5ms, total=203.5ms, count=1, min=203.5ms, max=203.5ms
+  compile_xml_load: mean=190.2ms, total=190.2ms, count=1, min=190.2ms, max=190.2ms
+  scene_asset_install: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  compile_aux_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  compile_aux_policy_objects: mean=41.5ms, total=41.5ms, count=1, min=41.5ms, max=41.5ms
+  asset_install_grasps: mean=30.3ms, total=30.3ms, count=1, min=30.3ms, max=30.3ms
+  compile_robot_add: mean=16.8ms, total=16.8ms, count=1, min=16.8ms, max=16.8ms
+  asset_install_objects: mean=8.7ms, total=8.7ms, count=1, min=8.7ms, max=8.7ms
+  mj_forward_sync: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  asset_install_scene: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  policy_setup: mean=55.2us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+[05/10 21:41:43 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:41:43 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:41:43 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:41:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:41:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:41:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:41:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:41:43 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:41:43 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:41:43 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:41:43 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.058m, effective arm-mount z=0.918m (base_body_z=0.058m, pedestal_h=0.860m)
+[05/10 21:41:43 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:41:43 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:41:43 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.058285m
+[05/10 21:41:43 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:41:43 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:41:43 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:41:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -58.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:43 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.80242508  0.29248231  0.05828515] yaw=164.4deg
+[05/10 21:41:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:41:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.89481798  0.31285414  0.05828515] yaw=174.5deg
+[05/10 21:41:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:41:43 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.97862955  0.92767845  0.05828515] yaw=-145.9deg
+[05/10 21:41:43 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:41:43 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:41:43 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.3ms, total=231.3ms
+[05/10 21:41:43 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.802, 0.292, 0.058)
+[05/10 21:41:43 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 164.4 deg
+[05/10 21:41:43 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.920m
+[05/10 21:41:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:41:43 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:41:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:41:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:41:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:41:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 21:41:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.072s
+[05/10 21:41:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:41:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:41:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 21:41:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.519s, found feasible grasp: True
+[05/10 21:41:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.475[m] 96.364[deg]
+[05/10 21:41:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:41:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:41:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:42:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:42:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:42:46 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:44:19 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:44:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:44:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 21:44:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:44:54 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:44:54 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:44:54 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.41s (batch: 4.30s, save: 9.10s)
+[05/10 21:44:55 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.51s:
+  episode_total: mean=191.47s, total=191.47s, count=1, min=191470.9ms, max=191470.9ms
+  sensor_polling: mean=478.1ms, total=143.44s, count=300, min=441.9ms, max=769.2ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9101.7ms, max=9101.7ms
+  physics_step: mean=22.9ms, total=6.86s, count=300, min=14.5ms, max=35.1ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4304.2ms, max=4304.2ms
+  task_sampling: mean=512.5ms, total=512.5ms, count=1, min=512.5ms, max=512.5ms
+  task_specific_sample: mean=508.7ms, total=508.7ms, count=1, min=508.7ms, max=508.7ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=393.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:44:56 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:44:56 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:44:56 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:44:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:44:56 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:44:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:44:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:44:56 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:44:56 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:44:56 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:44:56 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.068m, effective arm-mount z=0.928m (base_body_z=0.068m, pedestal_h=0.860m)
+[05/10 21:44:56 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:44:56 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:44:56 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.068393m
+[05/10 21:44:56 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:44:56 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:44:56 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:44:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 103.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:44:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70968768  0.74786147  0.06839309] yaw=-157.7deg
+[05/10 21:44:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:44:56 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84179878  1.00818012  0.06839309] yaw=-147.2deg
+[05/10 21:44:56 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:44:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:44:56 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:44:57 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.77158331  0.43589665  0.06839309] yaw=187.6deg
+[05/10 21:44:57 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:44:57 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:44:57 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.3ms, total=170.4ms
+[05/10 21:44:57 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.748, 0.068)
+[05/10 21:44:57 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.7 deg
+[05/10 21:44:57 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.028m
+[05/10 21:44:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:44:57 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:44:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:44:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:44:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:44:57 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 21:44:57 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 21:44:57 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:44:57 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:44:57 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 21:44:58 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.765s, found feasible grasp: True
+[05/10 21:44:58 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.607[m] 84.882[deg]
+[05/10 21:44:58 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:45:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:46:07 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:46:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:47:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:47:51 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:47:51 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 21:47:51 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:48:04 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:48:04 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:48:04 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.00s (batch: 4.46s, save: 8.54s)
+[05/10 21:48:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.45s:
+  episode_total: mean=188.83s, total=188.83s, count=1, min=188833.0ms, max=188833.0ms
+  sensor_polling: mean=475.0ms, total=142.51s, count=300, min=440.0ms, max=672.3ms
+  save_trajectories: mean=8.54s, total=8.54s, count=1, min=8540.0ms, max=8540.0ms
+  physics_step: mean=21.0ms, total=6.30s, count=300, min=18.3ms, max=29.2ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4462.9ms, max=4462.9ms
+  task_sampling: mean=451.5ms, total=451.5ms, count=1, min=451.5ms, max=451.5ms
+  task_specific_sample: mean=448.0ms, total=448.0ms, count=1, min=448.0ms, max=448.0ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=414.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:48:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:48:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:48:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:48:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:48:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:48:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:48:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)
+[05/10 21:48:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:48:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:48:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052779m
+[05/10 21:48:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:48:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:48:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:48:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01494016  0.93107802  0.05277918] yaw=-138.4deg
+[05/10 21:48:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:48:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76951487  0.58651569  0.05277918] yaw=-180.5deg
+[05/10 21:48:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:48:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.90276789  0.53772231  0.05277918] yaw=-169.1deg
+[05/10 21:48:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:48:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:48:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.8ms, total=216.8ms
+[05/10 21:48:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.015, 0.931, 0.053)
+[05/10 21:48:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -138.4 deg
+[05/10 21:48:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.821m
+[05/10 21:48:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:48:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 21:48:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 21:48:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:48:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:48:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 21:48:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True
+[05/10 21:48:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.389[m] 82.710[deg]
+[05/10 21:48:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:48:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:49:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:50:58 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:51:19 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:51:19 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 21:51:19 Worker 0 INFO save_utils.py:278] Preparing episode data: 300 timesteps
+[05/10 21:51:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:51:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:51:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.01s (batch: 4.16s, save: 10.85s)
+[05/10 21:51:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=0.50s:
+  episode_total: mean=207.69s, total=207.69s, count=1, min=207686.4ms, max=207686.4ms
+  sensor_polling: mean=528.6ms, total=158.06s, count=299, min=445.2ms, max=954.9ms
+  save_trajectories: mean=10.85s, total=10.85s, count=1, min=10850.7ms, max=10850.7ms
+  physics_step: mean=25.8ms, total=7.73s, count=299, min=14.9ms, max=82.4ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4157.8ms, max=4157.8ms
+  task_sampling: mean=497.5ms, total=497.5ms, count=1, min=497.5ms, max=497.5ms
+  task_specific_sample: mean=493.5ms, total=493.5ms, count=1, min=493.5ms, max=493.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=459.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:51:36 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:51:36 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:51:36 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:51:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:51:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:51:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:51:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:51:36 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:51:36 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:51:36 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:51:36 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.013m, effective arm-mount z=0.873m (base_body_z=0.013m, pedestal_h=0.860m)
+[05/10 21:51:36 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:51:36 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:51:36 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.012628m
+[05/10 21:51:36 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:51:36 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:51:36 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 90.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.67366714  0.639719    0.01262768] yaw=-168.5deg
+[05/10 21:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:51:36 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 121.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:36 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.97139325  1.04592761  0.01262768] yaw=-140.9deg
+[05/10 21:51:36 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:51:36 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:51:36 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.7ms, total=196.7ms
+[05/10 21:51:36 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.674, 0.640, 0.013)
+[05/10 21:51:36 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -168.5 deg
+[05/10 21:51:36 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.041m
+[05/10 21:51:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:51:36 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:51:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:51:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:51:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:51:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 21:51:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.103s
+[05/10 21:51:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:51:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:51:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps
+[05/10 21:51:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.778s, found feasible grasp: True
+[05/10 21:51:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.639[m] 97.840[deg]
+[05/10 21:51:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:51:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:52:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:53:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:53:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:54:27 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:54:50 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:54:50 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 21:54:50 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:55:03 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:55:03 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:55:03 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.53s (batch: 4.39s, save: 9.14s)
+[05/10 21:55:04 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.51s:
+  episode_total: mean=207.91s, total=207.91s, count=1, min=207907.9ms, max=207907.9ms
+  sensor_polling: mean=527.1ms, total=158.14s, count=300, min=439.9ms, max=1075.6ms
+  save_trajectories: mean=9.14s, total=9.14s, count=1, min=9144.7ms, max=9144.7ms
+  physics_step: mean=25.2ms, total=7.56s, count=300, min=17.6ms, max=92.1ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4386.1ms, max=4386.1ms
+  task_sampling: mean=511.2ms, total=511.2ms, count=1, min=511.2ms, max=511.2ms
+  task_specific_sample: mean=506.6ms, total=506.6ms, count=1, min=506.6ms, max=506.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=611.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:55:06 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:55:06 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:55:06 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:55:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:55:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:55:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:55:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:55:06 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:55:06 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:55:06 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:55:06 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
+[05/10 21:55:06 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:55:06 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:55:06 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034045m
+[05/10 21:55:06 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:55:06 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:55:06 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:55:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90144487  0.55648879  0.03404549] yaw=-167.8deg
+[05/10 21:55:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:55:06 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.01136806  0.86071748  0.03404549] yaw=-148.9deg
+[05/10 21:55:06 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:55:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:06 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:06 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:55:06 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.0ms, total=229.1ms
+[05/10 21:55:06 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.901, 0.556, 0.034)
+[05/10 21:55:06 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -167.8 deg
+[05/10 21:55:06 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.804m
+[05/10 21:55:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:55:06 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:55:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:55:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:55:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:55:06 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 21:55:07 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 21:55:07 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:55:07 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:55:07 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 88 non-colliding grasps
+[05/10 21:55:07 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.473s, found feasible grasp: True
+[05/10 21:55:07 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.342[m] 80.358[deg]
+[05/10 21:55:07 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:55:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:55:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:55:57 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:56:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:57:49 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:58:11 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:58:11 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 21:58:11 Worker 0 INFO save_utils.py:278] Preparing episode data: 290 timesteps
+[05/10 21:58:25 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:58:25 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:58:25 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.87s (batch: 4.16s, save: 9.72s)
+[05/10 21:58:26 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.59s:
+  episode_total: mean=200.29s, total=200.29s, count=1, min=200288.8ms, max=200288.8ms
+  sensor_polling: mean=522.4ms, total=150.97s, count=289, min=444.7ms, max=1019.5ms
+  save_trajectories: mean=9.72s, total=9.72s, count=1, min=9716.4ms, max=9716.4ms
+  physics_step: mean=24.3ms, total=7.01s, count=289, min=15.6ms, max=117.9ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4158.4ms, max=4158.4ms
+  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
+  task_specific_sample: mean=585.3ms, total=585.3ms, count=1, min=585.3ms, max=585.3ms
+  scene_randomize: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms
+  mj_forward_sync: mean=707.7us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=25.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:58:28 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:58:28 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:58:28 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:58:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:58:28 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:58:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:58:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:58:28 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:58:28 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:58:28 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:58:28 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)
+[05/10 21:58:28 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:58:28 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:58:28 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037727m
+[05/10 21:58:28 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:58:28 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:58:28 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:58:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:28 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75472367  0.15853611  0.03772694] yaw=169.7deg
+[05/10 21:58:28 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:58:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 98.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:28 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.88006506  0.99104522  0.03772694] yaw=-156.9deg
+[05/10 21:58:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:58:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:58:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=828.8ms, total=828.9ms
+[05/10 21:58:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.755, 0.159, 0.038)
+[05/10 21:58:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.7 deg
+[05/10 21:58:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.001m
+[05/10 21:58:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:58:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:58:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:58:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:58:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:58:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 21:58:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.155s
+[05/10 21:58:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:58:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:58:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.096s, found 88 non-colliding grasps
+[05/10 21:58:31 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.572s, found feasible grasp: True
+[05/10 21:58:31 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.567[m] 84.527[deg]
+[05/10 21:58:31 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:58:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:59:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:59:48 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:59:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:01:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:01:46 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:01:46 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 22:01:46 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:02:02 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:02:02 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:02:02 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.79s (batch: 5.20s, save: 10.59s)
+[05/10 22:02:03 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=1.21s:
+  episode_total: mean=214.52s, total=214.52s, count=1, min=214517.4ms, max=214517.4ms
+  sensor_polling: mean=524.3ms, total=157.28s, count=300, min=451.6ms, max=911.1ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10590.8ms, max=10590.8ms
+  physics_step: mean=25.4ms, total=7.61s, count=300, min=17.8ms, max=84.9ms
+  save_batch_prep: mean=5.20s, total=5.20s, count=1, min=5197.7ms, max=5197.7ms
+  task_sampling: mean=1.21s, total=1.21s, count=1, min=1211.0ms, max=1211.0ms
+  task_specific_sample: mean=1.21s, total=1.21s, count=1, min=1206.0ms, max=1206.0ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=583.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=27.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:02:04 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:02:04 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:02:04 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:02:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:02:04 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:02:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:02:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:02:04 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:02:04 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:02:04 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:02:04 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 22:02:04 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:02:04 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:02:04 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025228m
+[05/10 22:02:04 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:02:04 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:02:04 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:02:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88835828  0.86658547  0.02522849] yaw=-157.2deg
+[05/10 22:02:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:02:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 107.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:04 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:04 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.89469971  0.11005201  0.02522849] yaw=165.9deg
+[05/10 22:02:04 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:02:05 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:02:05 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=212.3ms, total=212.4ms
+[05/10 22:02:05 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.867, 0.025)
+[05/10 22:02:05 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -157.2 deg
+[05/10 22:02:05 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.900m
+[05/10 22:02:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:02:05 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:02:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:02:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:02:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:02:05 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 22:02:05 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.092s
+[05/10 22:02:05 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:02:05 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:02:05 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 22:02:06 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.874s, found feasible grasp: True
+[05/10 22:02:06 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.443[m] 81.931[deg]
+[05/10 22:02:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:02:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:02:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:03:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:03:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:04:52 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:05:20 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:05:20 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 22:05:20 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:05:34 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:05:34 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:05:34 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.21s (batch: 4.80s, save: 9.40s)
+[05/10 22:05:35 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.56s:
+  episode_total: mean=210.25s, total=210.25s, count=1, min=210249.8ms, max=210249.8ms
+  sensor_polling: mean=516.8ms, total=155.03s, count=300, min=447.5ms, max=856.3ms
+  save_trajectories: mean=9.40s, total=9.40s, count=1, min=9402.6ms, max=9402.6ms
+  physics_step: mean=23.9ms, total=7.18s, count=300, min=14.1ms, max=83.9ms
+  save_batch_prep: mean=4.80s, total=4.80s, count=1, min=4804.6ms, max=4804.6ms
+  task_sampling: mean=559.3ms, total=559.3ms, count=1, min=559.3ms, max=559.3ms
+  task_specific_sample: mean=555.1ms, total=555.1ms, count=1, min=555.1ms, max=555.1ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=461.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:05:37 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:05:37 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:05:37 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:05:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:05:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:05:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:05:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:05:37 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:05:37 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:05:37 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:05:37 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)
+[05/10 22:05:37 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:05:37 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:05:37 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017816m
+[05/10 22:05:37 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:05:37 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:05:37 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:05:37 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:05:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94152225  0.24854711  0.01781618] yaw=173.8deg
+[05/10 22:05:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:05:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.9563275   0.25922079  0.01781618] yaw=173.6deg
+[05/10 22:05:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:05:37 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.71388884  0.75362189  0.01781618] yaw=-171.9deg
+[05/10 22:05:37 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:05:37 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:05:37 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.1ms, total=206.2ms
+[05/10 22:05:37 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.942, 0.249, 0.018)
+[05/10 22:05:37 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 173.8 deg
+[05/10 22:05:37 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
+[05/10 22:05:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:05:37 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:05:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:05:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:05:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:05:37 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 22:05:37 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.152s
+[05/10 22:05:37 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:05:37 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:05:37 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps
+[05/10 22:05:39 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.113s, found feasible grasp: True
+[05/10 22:05:39 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.415[m] 97.769[deg]
+[05/10 22:05:39 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:05:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:06:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:06:38 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:06:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:07:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:07:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:07:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:07:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:07:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:07:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:07:36 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 22:07:36 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:07:36 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:07:36 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
+[05/10 22:07:36 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 0.442s, found feasible grasp: True
+[05/10 22:07:36 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.445[deg]
+[05/10 22:07:36 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:07:37 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:07:37 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:07:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:9
+[05/10 22:07:38 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:07:38 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 22:07:38 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:07:38 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:07:38 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 22:07:38 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.399s, found feasible grasp: True
+[05/10 22:07:38 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.455[deg]
+[05/10 22:07:38 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:07:39 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:07:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:07:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:07:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:07:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:07:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:07:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:08:05 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:08:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:08:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:08:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:08:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:08:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:08:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 22:08:41 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:08:41 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:08:41 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 80 non-colliding grasps
+[05/10 22:08:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 3.076s, found feasible grasp: True
+[05/10 22:08:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 147 (originally 32): w/ 0.113[m] 2.005[deg]
+[05/10 22:08:44 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:09:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:09:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:09:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 22:09:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:09:41 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:09:41 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:09:41 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 17.65s (batch: 4.41s, save: 13.24s)
+[05/10 22:09:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.66s:
+  episode_total: mean=245.38s, total=245.38s, count=1, min=245377.0ms, max=245377.0ms
+  sensor_polling: mean=535.2ms, total=160.56s, count=300, min=448.4ms, max=1169.7ms
+  save_trajectories: mean=13.24s, total=13.24s, count=1, min=13244.3ms, max=13244.3ms
+  physics_step: mean=24.3ms, total=7.28s, count=300, min=13.5ms, max=116.7ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4407.8ms, max=4407.8ms
+  task_sampling: mean=656.7ms, total=656.7ms, count=1, min=656.7ms, max=656.7ms
+  task_specific_sample: mean=652.2ms, total=652.2ms, count=1, min=652.2ms, max=652.2ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=552.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:09:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:09:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:09:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:09:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:09:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:09:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:09:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:09:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:09:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:09:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:09:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)
+[05/10 22:09:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:09:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:09:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046465m
+[05/10 22:09:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:09:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:09:44 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:09:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83966533  0.72946256  0.04646467] yaw=-156.9deg
+[05/10 22:09:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:09:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:09:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:09:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:09:44 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:09:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.85826305  0.32023197  0.04646467] yaw=180.4deg
+[05/10 22:09:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:09:44 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.9128542   0.13184302  0.04646467] yaw=146.0deg
+[05/10 22:09:44 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:09:44 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:09:44 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=159.4ms, total=159.5ms
+[05/10 22:09:44 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.729, 0.046)
+[05/10 22:09:44 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -156.9 deg
+[05/10 22:09:44 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.897m
+[05/10 22:09:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:09:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:09:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:09:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:09:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:09:44 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 22:09:44 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.079s
+[05/10 22:09:44 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:09:44 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:09:44 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps
+[05/10 22:09:45 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True
+[05/10 22:09:45 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.419[m] 81.600[deg]
+[05/10 22:09:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:09:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:09:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:10:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:10:37 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:10:41 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:12:28 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:12:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:12:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 2/4: 1 episodes
+[05/10 22:12:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:13:09 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:13:09 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:13:09 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.81s (batch: 4.97s, save: 9.84s)
+[05/10 22:13:10 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
+  episode_total: mean=205.89s, total=205.89s, count=1, min=205886.0ms, max=205886.0ms
+  sensor_polling: mean=504.9ms, total=151.48s, count=300, min=437.0ms, max=897.5ms
+  save_trajectories: mean=9.84s, total=9.84s, count=1, min=9844.9ms, max=9844.9ms
+  physics_step: mean=23.7ms, total=7.11s, count=300, min=17.9ms, max=66.7ms
+  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4967.5ms, max=4967.5ms
+  task_sampling: mean=456.4ms, total=456.4ms, count=1, min=456.4ms, max=456.4ms
+  task_specific_sample: mean=452.3ms, total=452.3ms, count=1, min=452.3ms, max=452.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=433.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:13:11 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:13:11 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:13:11 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:13:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:13:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:13:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:13:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:13:11 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:13:11 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:13:11 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:13:11 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.000m, effective arm-mount z=0.860m (base_body_z=0.000m, pedestal_h=0.860m)
+[05/10 22:13:11 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:13:11 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:13:11 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.000358m
+[05/10 22:13:11 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:13:11 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:13:11 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:13:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:13:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-8.57590381e-01  1.01017207e+00  3.58128945e-04] yaw=-152.3deg
+[05/10 22:13:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:13:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:13:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:13:11 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:13:11 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-1.00865127e+00  1.18409291e-01  3.58128945e-04] yaw=162.8deg
+[05/10 22:13:11 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:13:11 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:13:11 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.9ms, total=200.9ms
+[05/10 22:13:11 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.858, 1.010, 0.000)
+[05/10 22:13:11 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -152.3 deg
+[05/10 22:13:11 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
+[05/10 22:13:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:13:11 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:13:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:13:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:13:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:13:12 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 22:13:12 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.096s
+[05/10 22:13:12 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:13:12 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:13:12 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 22:13:14 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.671s, found feasible grasp: True
+[05/10 22:13:14 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.534[m] 81.095[deg]
+[05/10 22:13:14 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:13:14 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:13:14 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
diff --git a/fridge_7/chunk_009/shard_3_of_4.log b/fridge_7/chunk_009/shard_3_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..3f7b691cfb7235b1495498953b2989e2e5fe03a4
--- /dev/null
+++ b/fridge_7/chunk_009/shard_3_of_4.log
@@ -0,0 +1,1154 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_009
+  shard=3/4  seed=20903  samples=3
+  CUDA_VISIBLE_DEVICES=2
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:37:47 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 21:37:47 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 21:37:47 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_009'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 21:37:47 INFO pipeline.py:1367] {'batch_num': 3,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70005e32c250>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20903,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:37:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 21:37:47 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 21:37:47 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 123146881616080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 123146881616080 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 123146881616080 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 123146881616080 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 123146886232016 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123146886232016 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123146886229712 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123146886229712 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123146886229712 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123146886229712 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123146886232016 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123146886232016 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123146885566288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123146885566288 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123146885565392 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123146885565392 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 123146885565392 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123146885565392 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123146885566288 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123146885566288 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 21:37:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5c0a0996bb50 at 0x70005e822f10>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c0a0996d620 at 0x70005e832090>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5c0a0996d620 at 0x70005e7b9490>
+[05/10 21:37:50 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 21:37:51 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 21:37:51 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 21:37:51 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:37:51 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:37:51 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:37:51 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:37:51 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:37:51 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 21:37:51 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:37:51 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:37:51 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054552m
+[05/10 21:37:51 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:37:51 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 21:37:51 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 113.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:51 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79603452  1.07200904  0.05455197] yaw=-145.2deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:37:51 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:37:51 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=70.5ms, retries=340.5ms, total=411.0ms
+[05/10 21:37:51 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.796, 1.072, 0.055)
+[05/10 21:37:51 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -145.2 deg
+[05/10 21:37:51 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.081m
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:37:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:37:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:37:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 21:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.894s
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps
+[05/10 21:38:24 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.816s, found feasible grasp: True
+[05/10 21:38:24 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 213 (originally 98): w/ 0.668[m] 96.278[deg]
+[05/10 21:38:25 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:38:27 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:38:27 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:38:27 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:38:27 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:38:27 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:38:27 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:38:27 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.055m, effective arm-mount z=0.915m (base_body_z=0.055m, pedestal_h=0.860m)
+[05/10 21:38:27 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:38:27 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:38:27 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054501m
+[05/10 21:38:27 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:38:27 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:38:27 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 106.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.7650731   0.29964744  0.05450054] yaw=159.7deg
+[05/10 21:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:38:27 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:38:27 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80220069  1.02787749  0.05450054] yaw=-145.5deg
+[05/10 21:38:27 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:38:27 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:38:27 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=369.0ms, total=369.0ms
+[05/10 21:38:27 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.765, 0.300, 0.055)
+[05/10 21:38:27 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.7 deg
+[05/10 21:38:27 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.955m
+[05/10 21:38:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:38:27 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:38:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:38:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:38:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:38:28 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 21:38:28 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.066s
+[05/10 21:38:28 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:38:28 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:38:28 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps
+[05/10 21:38:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.650s, found feasible grasp: True
+[05/10 21:38:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.506[m] 84.258[deg]
+[05/10 21:38:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:38:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:39:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:39:40 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:41:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 21:41:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:41:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 21:41:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:42:06 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 21:42:06 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:42:06 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.21s (batch: 4.32s, save: 8.89s)
+[05/10 21:42:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=4.97s:
+  episode_total: mean=129.10s, total=258.20s, count=2, min=38271.6ms, max=219925.7ms
+  sensor_polling: mean=518.5ms, total=155.54s, count=300, min=438.0ms, max=898.1ms
+  save_trajectories: mean=8.89s, total=8.89s, count=1, min=8893.6ms, max=8893.6ms
+  physics_step: mean=27.2ms, total=8.17s, count=300, min=17.6ms, max=132.8ms
+  task_sampling: mean=2.49s, total=4.97s, count=2, min=665.8ms, max=4308.0ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4318.8ms, max=4318.8ms
+  scene_load: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms
+  scene_env_create: mean=2.36s, total=2.36s, count=1, min=2360.2ms, max=2360.2ms
+  task_specific_sample: mean=680.3ms, total=1.36s, count=2, min=662.8ms, max=697.9ms
+  scene_compile: mean=980.2ms, total=980.2ms, count=1, min=980.2ms, max=980.2ms
+  compile_mujoco: mean=734.7ms, total=734.7ms, count=1, min=734.7ms, max=734.7ms
+  scene_init: mean=201.3ms, total=201.3ms, count=1, min=201.3ms, max=201.3ms
+  compile_xml_load: mean=163.9ms, total=163.9ms, count=1, min=163.9ms, max=163.9ms
+  compile_aux_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
+  compile_aux_policy_objects: mean=63.6ms, total=63.6ms, count=1, min=63.6ms, max=63.6ms
+  scene_asset_install: mean=60.4ms, total=60.4ms, count=1, min=60.4ms, max=60.4ms
+  asset_install_grasps: mean=41.4ms, total=41.4ms, count=1, min=41.4ms, max=41.4ms
+  asset_install_objects: mean=14.8ms, total=14.8ms, count=1, min=14.8ms, max=14.8ms
+  compile_robot_add: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
+  mj_forward_sync: mean=2.4ms, total=4.8ms, count=2, min=0.5ms, max=4.3ms
+  asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.6ms, max=2.0ms
+  policy_setup: mean=28.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:42:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:42:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:42:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:42:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:42:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:42:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:42:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:42:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:42:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:42:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:42:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.025m, effective arm-mount z=0.885m (base_body_z=0.025m, pedestal_h=0.860m)
+[05/10 21:42:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:42:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:42:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.025446m
+[05/10 21:42:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:42:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:42:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:42:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 155.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:42:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.01048895  1.04469853  0.02544591] yaw=-132.3deg
+[05/10 21:42:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:42:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:42:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 125.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:42:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:42:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:42:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=336.7ms, total=336.8ms
+[05/10 21:42:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.010, 1.045, 0.025)
+[05/10 21:42:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -132.3 deg
+[05/10 21:42:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.892m
+[05/10 21:42:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:42:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:42:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:42:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:42:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:42:09 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 21:42:09 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.082s
+[05/10 21:42:09 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:42:09 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:42:09 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps
+[05/10 21:42:10 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.740s, found feasible grasp: True
+[05/10 21:42:10 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.470[m] 94.194[deg]
+[05/10 21:42:10 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:42:11 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:42:11 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:42:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:43:06 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:43:10 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:44:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:44:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:44:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:44:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:44:45 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:44:46 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:44:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:44:49 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:44:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:44:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:44:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.047s, found 76 non-colliding grasps
+[05/10 21:44:51 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.809s, found feasible grasp: True
+[05/10 21:44:51 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.792[deg]
+[05/10 21:44:53 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:44:54 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:44:54 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:44:54 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:44:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:44:54 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:44:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:44:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:44:54 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:44:54 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:44:54 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:44:54 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.009m, effective arm-mount z=0.869m (base_body_z=0.009m, pedestal_h=0.860m)
+[05/10 21:44:54 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:44:54 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:44:54 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008906m
+[05/10 21:44:54 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:44:54 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:44:54 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:44:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76329688  0.38370386  0.00890552] yaw=165.4deg
+[05/10 21:44:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:44:54 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86119877  0.39958689  0.00890552] yaw=167.5deg
+[05/10 21:44:54 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:44:54 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 105.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:44:55 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84878388  0.53032765  0.00890552] yaw=-165.4deg
+[05/10 21:44:55 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:44:55 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:44:55 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.5ms
+[05/10 21:44:55 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.384, 0.009)
+[05/10 21:44:55 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 165.4 deg
+[05/10 21:44:55 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.944m
+[05/10 21:44:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:44:55 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:44:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:44:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:44:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:44:55 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 21:44:55 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.047s
+[05/10 21:44:55 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:44:55 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:44:55 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.042s, found 88 non-colliding grasps
+[05/10 21:44:55 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.466s, found feasible grasp: True
+[05/10 21:44:55 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.478[m] 89.704[deg]
+[05/10 21:44:55 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:44:56 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:45:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:45:53 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:45:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:47:29 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:47:53 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:47:53 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 21:47:53 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:48:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:48:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:48:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.55s (batch: 4.49s, save: 8.05s)
+[05/10 21:48:06 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 3 house 1 success=True episode_total=1.06s:
+  episode_total: mean=177.72s, total=355.43s, count=2, min=163970.0ms, max=191461.8ms
+  sensor_polling: mean=477.6ms, total=285.62s, count=598, min=438.9ms, max=694.4ms
+  physics_step: mean=23.2ms, total=13.84s, count=598, min=15.6ms, max=37.2ms
+  save_trajectories: mean=8.05s, total=8.05s, count=1, min=8051.1ms, max=8051.1ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4494.3ms, max=4494.3ms
+  task_sampling: mean=529.6ms, total=1.06s, count=2, min=458.8ms, max=600.4ms
+  task_specific_sample: mean=526.1ms, total=1.05s, count=2, min=455.7ms, max=596.6ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=412.8us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:48:08 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:48:08 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:48:08 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:48:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:08 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:48:08 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:48:08 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:48:08 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.092m, effective arm-mount z=0.952m (base_body_z=0.092m, pedestal_h=0.860m)
+[05/10 21:48:08 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:48:08 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:48:08 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.092207m
+[05/10 21:48:08 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:48:08 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:48:08 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:48:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 92.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.77076065  0.53505719  0.09220746] yaw=-183.7deg
+[05/10 21:48:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:48:08 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.64079981  0.3326261   0.09220746] yaw=182.6deg
+[05/10 21:48:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:48:08 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.8451624   0.41295116  0.09220746] yaw=166.3deg
+[05/10 21:48:08 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:48:08 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:48:08 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.5ms, total=131.6ms
+[05/10 21:48:08 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.771, 0.535, 0.092)
+[05/10 21:48:08 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -183.7 deg
+[05/10 21:48:08 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.933m
+[05/10 21:48:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:08 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:48:08 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 21:48:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 21:48:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:48:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:48:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.049s, found 88 non-colliding grasps
+[05/10 21:48:09 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.508s, found feasible grasp: True
+[05/10 21:48:09 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.506[m] 92.316[deg]
+[05/10 21:48:09 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:48:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:49:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:49:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:49:25 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:51:03 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:51:24 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:51:24 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 21:51:24 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:51:39 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:51:39 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:51:39 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.86s (batch: 4.78s, save: 10.08s)
+[05/10 21:51:39 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=0.42s:
+  episode_total: mean=211.96s, total=211.96s, count=1, min=211961.4ms, max=211961.4ms
+  sensor_polling: mean=533.3ms, total=159.98s, count=300, min=451.7ms, max=1190.4ms
+  save_trajectories: mean=10.08s, total=10.08s, count=1, min=10080.2ms, max=10080.2ms
+  physics_step: mean=28.0ms, total=8.39s, count=300, min=18.7ms, max=85.7ms
+  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4782.6ms, max=4782.6ms
+  task_sampling: mean=421.5ms, total=421.5ms, count=1, min=421.5ms, max=421.5ms
+  task_specific_sample: mean=417.4ms, total=417.4ms, count=1, min=417.4ms, max=417.4ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=483.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=23.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:51:41 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:51:41 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:51:41 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:51:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:51:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:51:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:51:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:51:41 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:51:41 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:51:41 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:51:41 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.024m, effective arm-mount z=0.884m (base_body_z=0.024m, pedestal_h=0.860m)
+[05/10 21:51:41 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:51:41 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:51:41 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.024102m
+[05/10 21:51:41 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:51:41 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:51:41 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:51:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90652377  0.50358754  0.02410204] yaw=-188.7deg
+[05/10 21:51:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:51:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:41 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.11372555  1.06333028  0.02410204] yaw=-132.3deg
+[05/10 21:51:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:51:41 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.73617596  0.69003352  0.02410204] yaw=-167.5deg
+[05/10 21:51:41 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:51:41 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:51:41 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.1ms, total=211.1ms
+[05/10 21:51:41 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.907, 0.504, 0.024)
+[05/10 21:51:41 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -188.7 deg
+[05/10 21:51:41 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.796m
+[05/10 21:51:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:51:41 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:51:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:51:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:51:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:51:42 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 21:51:42 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.087s
+[05/10 21:51:42 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:51:42 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:51:42 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 21:51:42 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.507s, found feasible grasp: True
+[05/10 21:51:42 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.392[m] 98.542[deg]
+[05/10 21:51:42 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:51:43 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:52:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:52:40 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:52:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:54:27 Worker 0 INFO base_object_manipulation_planner_policy.py:161] Object is not in grasp! 0.00000 < 0.002000
+[05/10 21:54:27 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:54:27 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:54:27 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:54:27 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.052s, found 78 non-colliding grasps
+[05/10 21:54:28 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.404s, found feasible grasp: True
+[05/10 21:54:28 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 1.183[deg]
+[05/10 21:54:28 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:54:28 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:54:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:54:35 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:55:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:55:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 21:55:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:55:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:55:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:55:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.59s (batch: 4.36s, save: 11.23s)
+[05/10 21:55:16 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.52s:
+  episode_total: mean=214.60s, total=214.60s, count=1, min=214599.2ms, max=214599.2ms
+  sensor_polling: mean=530.0ms, total=159.00s, count=300, min=444.3ms, max=951.1ms
+  save_trajectories: mean=11.23s, total=11.23s, count=1, min=11228.7ms, max=11228.7ms
+  physics_step: mean=28.0ms, total=8.39s, count=300, min=16.0ms, max=94.2ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4363.2ms, max=4363.2ms
+  task_sampling: mean=520.2ms, total=520.2ms, count=1, min=520.2ms, max=520.2ms
+  task_specific_sample: mean=516.4ms, total=516.4ms, count=1, min=516.4ms, max=516.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=430.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=28.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:55:18 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:55:18 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:55:18 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:55:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:55:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:55:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:55:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:55:18 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:55:18 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:55:18 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:55:18 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)
+[05/10 21:55:18 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:55:18 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:55:18 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.083523m
+[05/10 21:55:18 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:55:18 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:55:18 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:55:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 107.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70724624  0.43532496  0.08352347] yaw=169.8deg
+[05/10 21:55:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:55:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:18 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:55:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.02463451  1.15756238  0.08352347] yaw=-128.3deg
+[05/10 21:55:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:55:18 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.00654317  0.10379094  0.08352347] yaw=146.7deg
+[05/10 21:55:18 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:55:18 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:55:18 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=625.1ms, total=625.2ms
+[05/10 21:55:18 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.435, 0.084)
+[05/10 21:55:18 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
+[05/10 21:55:18 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.996m
+[05/10 21:55:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:55:18 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:55:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:55:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:55:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:55:19 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 21:55:19 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.155s
+[05/10 21:55:19 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:55:19 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:55:19 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.197s, found 88 non-colliding grasps
+[05/10 21:55:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.444s, found feasible grasp: True
+[05/10 21:55:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.521[m] 81.239[deg]
+[05/10 21:55:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:55:21 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:55:21 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:56:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:56:30 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:56:35 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:58:06 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:58:31 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:58:31 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 21:58:31 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:58:46 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:58:46 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:58:46 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.68s (batch: 5.58s, save: 9.10s)
+[05/10 21:58:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 6 house 1 success=True episode_total=0.93s:
+  episode_total: mean=208.47s, total=208.47s, count=1, min=208465.6ms, max=208465.6ms
+  sensor_polling: mean=513.0ms, total=153.91s, count=300, min=443.5ms, max=961.0ms
+  save_trajectories: mean=9.10s, total=9.10s, count=1, min=9096.8ms, max=9096.8ms
+  physics_step: mean=26.3ms, total=7.88s, count=300, min=18.6ms, max=62.9ms
+  save_batch_prep: mean=5.58s, total=5.58s, count=1, min=5581.0ms, max=5581.0ms
+  task_sampling: mean=928.7ms, total=928.7ms, count=1, min=928.7ms, max=928.7ms
+  task_specific_sample: mean=924.8ms, total=924.8ms, count=1, min=924.8ms, max=924.8ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=526.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:58:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:58:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:58:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:58:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.097m, effective arm-mount z=0.957m (base_body_z=0.097m, pedestal_h=0.860m)
+[05/10 21:58:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:58:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:58:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.096634m
+[05/10 21:58:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:58:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:58:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73278953  0.19767023  0.09663425] yaw=158.7deg
+[05/10 21:58:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.9° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.75277979  0.52039976  0.09663425] yaw=-174.6deg
+[05/10 21:58:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:58:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:58:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.4ms
+[05/10 21:58:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.198, 0.097)
+[05/10 21:58:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 158.7 deg
+[05/10 21:58:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.010m
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:58:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:58:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:58:49 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 21:58:49 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.131s
+[05/10 21:58:49 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:58:49 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:58:49 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps
+[05/10 21:58:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.623s, found feasible grasp: True
+[05/10 21:58:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.545[m] 88.314[deg]
+[05/10 21:58:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:58:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:59:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:00:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:00:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:01:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:01:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:01:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:01:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:01:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:01:42 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:01:44 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:01:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:01:47 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:01:47 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 22:01:47 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:01:47 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:01:47 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 78 non-colliding grasps
+[05/10 22:01:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.832s, found feasible grasp: True
+[05/10 22:01:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.689[deg]
+[05/10 22:01:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:01:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:01:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:02:01 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:02:02 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:02:29 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:02:29 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 22:02:29 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:02:43 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:02:43 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:02:43 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.15s (batch: 4.78s, save: 9.36s)
+[05/10 22:02:43 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.52s:
+  episode_total: mean=235.45s, total=235.45s, count=1, min=235448.3ms, max=235448.3ms
+  sensor_polling: mean=522.4ms, total=156.71s, count=300, min=449.9ms, max=942.3ms
+  save_trajectories: mean=9.36s, total=9.36s, count=1, min=9363.6ms, max=9363.6ms
+  physics_step: mean=26.7ms, total=8.02s, count=300, min=18.8ms, max=109.6ms
+  save_batch_prep: mean=4.78s, total=4.78s, count=1, min=4782.9ms, max=4782.9ms
+  task_sampling: mean=522.2ms, total=522.2ms, count=1, min=522.2ms, max=522.2ms
+  task_specific_sample: mean=518.3ms, total=518.3ms, count=1, min=518.3ms, max=518.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=429.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=33.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:02:45 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:02:45 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:02:45 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:02:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:02:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:02:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:02:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:02:45 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:02:45 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:02:45 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:02:45 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.094m, effective arm-mount z=0.954m (base_body_z=0.094m, pedestal_h=0.860m)
+[05/10 22:02:45 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:02:45 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:02:45 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.094174m
+[05/10 22:02:45 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:02:45 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:02:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:02:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83648448  0.0151941   0.09417409] yaw=150.5deg
+[05/10 22:02:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:02:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.66754429  0.517225    0.09417409] yaw=-186.7deg
+[05/10 22:02:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:02:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.98588497  0.1850165   0.09417409] yaw=157.1deg
+[05/10 22:02:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:02:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:02:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=170.2ms, total=170.3ms
+[05/10 22:02:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.836, 0.015, 0.094)
+[05/10 22:02:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 150.5 deg
+[05/10 22:02:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.984m
+[05/10 22:02:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:02:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:02:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:02:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:02:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:02:46 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 22:02:46 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.085s
+[05/10 22:02:46 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:02:46 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:02:46 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps
+[05/10 22:02:48 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.705s, found feasible grasp: True
+[05/10 22:02:48 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.576[m] 90.931[deg]
+[05/10 22:02:48 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:02:48 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:02:48 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:03:54 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:04:04 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:04:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:05:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:06:07 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:06:07 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 22:06:07 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:06:24 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:06:24 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:06:24 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 16.98s (batch: 4.43s, save: 12.55s)
+[05/10 22:06:24 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.49s:
+  episode_total: mean=218.90s, total=218.90s, count=1, min=218896.0ms, max=218896.0ms
+  sensor_polling: mean=537.5ms, total=161.25s, count=300, min=446.9ms, max=941.0ms
+  save_trajectories: mean=12.55s, total=12.55s, count=1, min=12549.3ms, max=12549.3ms
+  physics_step: mean=26.3ms, total=7.89s, count=300, min=18.7ms, max=75.1ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4426.6ms, max=4426.6ms
+  task_sampling: mean=494.6ms, total=494.6ms, count=1, min=494.6ms, max=494.6ms
+  task_specific_sample: mean=490.3ms, total=490.3ms, count=1, min=490.3ms, max=490.3ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=618.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:06:26 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:06:26 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:06:26 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:06:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:06:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:06:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:06:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:06:26 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:06:26 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:06:26 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:06:26 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 22:06:26 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:06:26 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:06:26 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074175m
+[05/10 22:06:26 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:06:26 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:06:26 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 99.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:06:26 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.89333809  0.15431183  0.07417476] yaw=159.1deg
+[05/10 22:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.80279908  0.66985313  0.07417476] yaw=-160.2deg
+[05/10 22:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:06:26 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.15247277  1.10836574  0.07417476] yaw=-136.5deg
+[05/10 22:06:26 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:06:26 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:06:26 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.4ms, total=178.4ms
+[05/10 22:06:26 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.893, 0.154, 0.074)
+[05/10 22:06:26 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 159.1 deg
+[05/10 22:06:26 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.873m
+[05/10 22:06:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:06:26 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:06:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:06:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:06:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:06:26 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 22:06:26 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.081s
+[05/10 22:06:26 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:06:26 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:06:26 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.048s, found 88 non-colliding grasps
+[05/10 22:06:27 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.565s, found feasible grasp: True
+[05/10 22:06:27 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.465[m] 98.518[deg]
+[05/10 22:06:27 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:06:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:07:17 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:07:28 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:07:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:08:30 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:08:34 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:08:36 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:08:38 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:08:39 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:08:41 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:08:43 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:08:43 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:08:43 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 22:08:43 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:08:43 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:08:43 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.050s, found 78 non-colliding grasps
+[05/10 22:08:44 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 78 grasps in 0.428s, found feasible grasp: True
+[05/10 22:08:44 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.459[deg]
+[05/10 22:08:45 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:08:45 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:08:47 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:08:48 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:08:50 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:08:51 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:08:55 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:08:58 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:09:01 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:09:04 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 22:09:04 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:09:04 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:09:04 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.078s, found 80 non-colliding grasps
+[05/10 22:09:04 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.584s, found feasible grasp: True
+[05/10 22:09:04 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]
+[05/10 22:09:06 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:09:07 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:09:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:09:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:09:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:09:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:09:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:09:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:09:20 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:09:20 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:09:20 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 3/3
+[05/10 22:09:20 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:09:20 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:09:20 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 80 non-colliding grasps
+[05/10 22:09:20 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True
+[05/10 22:09:20 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.460[deg]
+[05/10 22:09:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:09:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:09:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:09:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:09:26 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:09:28 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:09:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:09:35 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:09:37 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:09:40 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:09:40 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:09:40 Worker 0 INFO base_object_manipulation_planner_policy.py:462] ❌ Max retries (3) exceeded. Task failed.
+[05/10 22:09:41 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:10:00 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:10:00 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 3/4: 1 episodes
+[05/10 22:10:00 Worker 0 INFO save_utils.py:278] Preparing episode data: 255 timesteps
+[05/10 22:10:15 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:10:15 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:10:15 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 14.64s (batch: 3.93s, save: 10.71s)
+[05/10 22:10:15 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
+  episode_total: mean=229.60s, total=229.60s, count=1, min=229603.3ms, max=229603.3ms
+  sensor_polling: mean=516.9ms, total=131.30s, count=254, min=448.0ms, max=1143.8ms
+  save_trajectories: mean=10.71s, total=10.71s, count=1, min=10708.6ms, max=10708.6ms
+  physics_step: mean=25.3ms, total=6.41s, count=254, min=12.8ms, max=129.8ms
+  save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3931.8ms, max=3931.8ms
+  task_sampling: mean=464.6ms, total=464.6ms, count=1, min=464.6ms, max=464.6ms
+  task_specific_sample: mean=460.9ms, total=460.9ms, count=1, min=460.9ms, max=460.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=419.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:10:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:10:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:10:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:10:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:10:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:10:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:10:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:10:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:10:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:10:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:10:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)
+[05/10 22:10:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:10:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:10:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010557m
+[05/10 22:10:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:10:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:10:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 96.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:10:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 120.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:10:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.96454673  0.80953441  0.01055669] yaw=-154.5deg
+[05/10 22:10:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:10:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.79692637  0.62038593  0.01055669] yaw=-160.2deg
+[05/10 22:10:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:10:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10745522  1.06553463  0.01055669] yaw=-142.1deg
+[05/10 22:10:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:10:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:10:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.7ms, total=104.7ms
+[05/10 22:10:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.965, 0.810, 0.011)
+[05/10 22:10:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.5 deg
+[05/10 22:10:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.807m
+[05/10 22:10:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:10:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:10:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:10:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:10:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:10:17 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 22:10:17 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 22:10:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:10:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:10:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.098s, found 88 non-colliding grasps
+[05/10 22:10:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.754s, found feasible grasp: True
+[05/10 22:10:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.342[m] 74.141[deg]
+[05/10 22:10:18 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:10:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:10:51 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:11:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:11:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:13:00 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True
diff --git a/fridge_7/chunk_009/shard_4_of_4.log b/fridge_7/chunk_009/shard_4_of_4.log
new file mode 100644
index 0000000000000000000000000000000000000000..6e1617e0767cb520f9527ac9c43646cd2b7389c0
--- /dev/null
+++ b/fridge_7/chunk_009/shard_4_of_4.log
@@ -0,0 +1,1197 @@
+==========================================
+Generating data for: fridge -> /scr/ravenh/fridge_7/sim_chunks/chunk_009
+  shard=4/4  seed=20904  samples=3
+  CUDA_VISIBLE_DEVICES=3
+  scene=ithor_minimal_fridge_7  radius=[0.7,1.1]  theta=[-0.5,0.9]
+==========================================
+[nltk_data] Downloading package wordnet to /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet is already up-to-date!
+[nltk_data] Downloading package wordnet2022 to
+[nltk_data]     /svl/u/ravenh/nltk_data...
+[nltk_data]   Package wordnet2022 is already up-to-date!
+/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/evaluation/eval_main.py:127: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610).
+  _assert_data_versions_match()
+INFO:__main__:Overrode 1 camera(s) from scripts/datagen/picked_camera_extrinsics.json (pos_noise=0.05m, rot_noise=5.0deg)
+INFO:__main__:[setup_config] open task detected: defaulted task_sampler_config.placement_robot_height = 1.4m (override with --placement_robot_height)
+INFO:__main__:Mesh stand active: --robot_base_z=0.86m will be realized by offsetting the stand body, not by resizing.
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:37:46 INFO pipeline.py:640] WandB logging disabled (environment variables not set)
+[05/10 21:37:46 INFO pipeline.py:1359] Starting house-by-house rollout of 1 houses with 3 episodes each (3 total episodes) using 1 worker processes
+[05/10 21:37:46 INFO pipeline.py:1366] Evaluation configuration:
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/site-packages/pydantic/main.py:464: UserWarning: Pydantic serializer warnings:
+  PydanticSerializationUnexpectedValue(Expected `list[str]` - serialized value may not be as expected [field_name='receptacle_types', input_value=('ArmChair', 'Bed', 'Chai...fa', 'Stool', 'TVStand'), input_type=tuple])
+  PydanticSerializationUnexpectedValue(Expected `str` - serialized value may not be as expected [field_name='output_dir', input_value=PosixPath('/scr/ravenh/fr...7/sim_chunks/chunk_009'), input_type=PosixPath])
+  return self.__pydantic_serializer__.to_python(
+[05/10 21:37:46 INFO pipeline.py:1367] {'batch_num': 4,
+ 'benchmark_path': None,
+ 'camera_config': {'cameras': [{'fov': 56.74,
+                                'fov_noise_degrees': None,
+                                'is_warped': False,
+                                'mjcf_name': 'gripper/wrist_camera',
+                                'name': 'wrist_camera',
+                                'orientation_noise_degrees': None,
+                                'pos_noise_range': None,
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'robot_namespace': 'robot_0/',
+                                'skip_erosion': False,
+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
+                                                  0.6558403226398233],
+                                'camera_quaternion': [0.3798949547479566,
+                                                      0.29653985043683495,
+                                                      -0.501112681562358,
+                                                      -0.7187697968315937],
+                                'fov': 71.0,
+                                'is_warped': False,
+                                'lookat_noise_range': None,
+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
+                                'orientation_noise_degrees': 5.0,
+                                'pos_noise_range': (-0.05, 0.05),
+                                'record_depth': True,
+                                'record_robot_masked_rgb': True,
+                                'record_segmentation': True,
+                                'reference_body_names': ['robot_0/fr3_link0'],
+                                'skip_erosion': False,
+                                'up_axis': 'z',
+                                'visibility_constraints': None}],
+                   'img_resolution': (1280, 720)},
+ 'collision_free_pose_limit': 3,
+ 'config_version': '0.1',
+ 'ctrl_dt_ms': 2.0,
+ 'data_split': 'train',
+ 'datagen_profiler': True,
+ 'end_on_success': False,
+ 'environment_light_intensity': 15000.0,
+ 'eval_runtime_params': {'add_custom_object': False,
+                         'custom_object_name': None,
+                         'custom_object_path': None,
+                         'episode_idx': None},
+ 'filter_for_successful_trajectories': True,
+ 'log_level': 'info',
+ 'num_envs': 1,
+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/fridge_7/sim_chunks/chunk_009'),
+ 'output_suffix': '_cam_rand',
+ 'policy_config': {'policy_cls': <class 'molmo_spaces.policy.solvers.object_manipulation.open_close_planner_policy.OpenClosePlannerPolicy'>,
+                   'policy_type': 'planner'},
+ 'policy_dt_ms': 66.0,
+ 'profile': True,
+ 'profiler': <molmo_spaces.utils.profiler_utils.Profiler object at 0x70530fda5250>,
+ 'robot_config': {'K_damping': None,
+                  'K_stiffness': None,
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_fridge_7',
+ 'seed': 20904,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (0.0, 0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.75, 1.1),
+                         'base_pose_sampling_theta_range_rad': (-0.5, 0.9),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 1,
+                         'fixed_object_instance_index': [1],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['fridge'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.2,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 3,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}
+INFO:molmo_spaces.configs.abstract_exp_config:Saved experiment configuration to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:37:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}
+[05/10 21:37:46 Worker 0 INFO pipeline.py:437] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler
+[05/10 21:37:46 Worker 0 INFO pipeline.py:464] Worker 0 starting house 1 (index 0/1)
+DEBUG:filelock:Attempting to acquire lock 123502046809488 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 123502046809488 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:molmospaces_resources:Building trie DB for scenes/ithor_minimal_fridge_7 under /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7
+DEBUG:filelock:Attempting to release lock 123502046809488 on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Lock 123502046809488 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lmdb/scenes/ithor_minimal_fridge_7/.lock
+DEBUG:filelock:Attempting to acquire lock 123502052407952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123502052407952 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123502052408528 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123502052408528 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123502052408528 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123502052408528 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123502052407952 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123502052407952 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123502046873168 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123502046873168 acquired on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Attempting to acquire lock 123502046878544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123502046878544 acquired on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:molmospaces_resources:Ensuring 0 grasps archive(s) for droid_objaverse version=20251218
+DEBUG:filelock:Attempting to release lock 123502046878544 on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Lock 123502046878544 released on /svl/u/ravenh/.cache/molmo-spaces-resources/.lock
+DEBUG:filelock:Attempting to release lock 123502046873168 on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+DEBUG:filelock:Lock 123502046873168 released on /svl/u/ravenh/renderscale/molmospaces/assets/.lock
+[05/10 21:37:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist
+DEBUG:OpenGL.platform.ctypesloader:Loaded libEGL.so => libEGL.so <CDLL 'libEGL.so', handle 5fc3279dfb00 at 0x70530feca250>
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5fc327a0d6a0 at 0x705310139e50>
+INFO:OpenGL.acceleratesupport:No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+DEBUG:OpenGL.platform.ctypesloader:Loaded libOpenGL.so => libOpenGL.so <CDLL 'libOpenGL.so', handle 5fc327a0d6a0 at 0x7053102c1490>
+[05/10 21:37:50 Worker 0 INFO task_sampler.py:797] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_fridge_7/FloorPlan1_physics.xml
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:197] Setting up scene for house 1, task None...
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:842] Found 1 candidate pickup objects in the scene
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:926] Filtered to 1 valid candidate pickup objects, 100.0 %
+[05/10 21:37:50 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:37:50 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:37:50 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)
+[05/10 21:37:50 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:37:50 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:37:50 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.078143m
+[05/10 21:37:50 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:37:50 Worker 0 INFO env.py:780] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)
+[05/10 21:37:50 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:37:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69840958  0.69742673  0.07814342] yaw=-166.3deg
+[05/10 21:37:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:37:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.87865762  0.32680021  0.07814342] yaw=159.1deg
+[05/10 21:37:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:37:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:50 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:37:50 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.77659807  0.24852128  0.07814342] yaw=168.0deg
+[05/10 21:37:50 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:37:50 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:37:50 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=12.9ms, retries=217.3ms, total=230.1ms
+[05/10 21:37:50 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.698, 0.697, 0.078)
+[05/10 21:37:50 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -166.3 deg
+[05/10 21:37:50 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.027m
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:37:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:37:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:37:51 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 0/18 collected=0/3
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+INFO:root:Using JAX default device: cuda:0.
+DEBUG:root:Picking default implementation: JAX.
+[05/10 21:38:21 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 29.973s
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:38:21 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 88 non-colliding grasps
+[05/10 21:38:22 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.610s, found feasible grasp: True
+[05/10 21:38:22 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.532[m] 81.815[deg]
+[05/10 21:38:22 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:38:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:39:19 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:39:31 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:39:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:41:11 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 0 object Fridge_7_upside_down_root completed with success=True
+/svl/u/ravenh/miniconda3/envs/mlspaces/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.
+  self.pid = _fork_exec(
+[05/10 21:41:32 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 0 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:41:32 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
+[05/10 21:41:32 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:41:45 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+DEBUG:h5py._conv:Creating converter from 5 to 3
+[05/10 21:41:45 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:41:45 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 13.26s (batch: 4.64s, save: 8.62s)
+[05/10 21:41:46 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 0 house 1 success=True episode_total=4.87s:
+  episode_total: mean=239.90s, total=239.90s, count=1, min=239904.3ms, max=239904.3ms
+  sensor_polling: mean=524.9ms, total=157.46s, count=300, min=446.6ms, max=861.5ms
+  save_trajectories: mean=8.62s, total=8.62s, count=1, min=8616.6ms, max=8616.6ms
+  physics_step: mean=27.1ms, total=8.14s, count=300, min=15.5ms, max=101.6ms
+  task_sampling: mean=4.87s, total=4.87s, count=1, min=4874.2ms, max=4874.2ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4642.3ms, max=4642.3ms
+  scene_load: mean=4.09s, total=4.09s, count=1, min=4089.0ms, max=4089.0ms
+  scene_env_create: mean=2.48s, total=2.48s, count=1, min=2478.2ms, max=2478.2ms
+  scene_compile: mean=1.49s, total=1.49s, count=1, min=1485.5ms, max=1485.5ms
+  compile_mujoco: mean=878.9ms, total=878.9ms, count=1, min=878.9ms, max=878.9ms
+  task_specific_sample: mean=781.5ms, total=781.5ms, count=1, min=781.5ms, max=781.5ms
+  compile_xml_load: mean=538.4ms, total=538.4ms, count=1, min=538.4ms, max=538.4ms
+  scene_init: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
+  scene_asset_install: mean=61.5ms, total=61.5ms, count=1, min=61.5ms, max=61.5ms
+  compile_aux_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  compile_aux_policy_objects: mean=41.7ms, total=41.7ms, count=1, min=41.7ms, max=41.7ms
+  asset_install_grasps: mean=36.9ms, total=36.9ms, count=1, min=36.9ms, max=36.9ms
+  asset_install_objects: mean=18.2ms, total=18.2ms, count=1, min=18.2ms, max=18.2ms
+  compile_robot_add: mean=16.6ms, total=16.6ms, count=1, min=16.6ms, max=16.6ms
+  asset_install_scene: mean=6.3ms, total=6.3ms, count=1, min=6.3ms, max=6.3ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=391.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=51.1us, total=0.1ms, count=1, min=0.1ms, max=0.1ms
+[05/10 21:41:48 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:41:48 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:41:48 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:41:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:41:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:41:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:41:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:41:48 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:41:48 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:41:48 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:41:48 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)
+[05/10 21:41:48 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:41:48 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:41:48 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015438m
+[05/10 21:41:48 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:41:48 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:41:48 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.75043123  0.69790588  0.01543775] yaw=-171.6deg
+[05/10 21:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 95.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:48 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78708884  0.84564956  0.01543775] yaw=-147.3deg
+[05/10 21:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:41:48 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.79430639  0.98150733  0.01543775] yaw=-149.7deg
+[05/10 21:41:48 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:41:48 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:41:48 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.3ms, total=158.4ms
+[05/10 21:41:48 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.750, 0.698, 0.015)
+[05/10 21:41:48 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -171.6 deg
+[05/10 21:41:48 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.976m
+[05/10 21:41:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:41:48 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:41:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:41:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:41:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:41:48 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 1/18 collected=0/3
+[05/10 21:41:48 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.073s
+[05/10 21:41:48 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:41:48 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:41:48 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.045s, found 88 non-colliding grasps
+[05/10 21:41:49 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.652s, found feasible grasp: True
+[05/10 21:41:49 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.540[m] 90.670[deg]
+[05/10 21:41:49 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:41:49 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:42:42 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:42:52 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:42:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:44:21 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 1 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:44:42 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:44:42 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
+[05/10 21:44:42 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:44:55 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:44:55 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:44:55 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.89s (batch: 4.03s, save: 8.86s)
+[05/10 21:44:56 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 1 house 1 success=True episode_total=0.42s:
+  episode_total: mean=188.47s, total=188.47s, count=1, min=188470.5ms, max=188470.5ms
+  sensor_polling: mean=478.0ms, total=143.41s, count=300, min=439.1ms, max=677.6ms
+  save_trajectories: mean=8.86s, total=8.86s, count=1, min=8861.5ms, max=8861.5ms
+  physics_step: mean=21.4ms, total=6.41s, count=300, min=16.6ms, max=31.6ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4026.4ms, max=4026.4ms
+  task_sampling: mean=424.4ms, total=424.4ms, count=1, min=424.4ms, max=424.4ms
+  task_specific_sample: mean=420.4ms, total=420.4ms, count=1, min=420.4ms, max=420.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=437.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:44:58 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:44:58 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:44:58 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:44:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:44:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:44:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:44:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:44:58 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:44:58 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:44:58 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:44:58 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.093m, effective arm-mount z=0.953m (base_body_z=0.093m, pedestal_h=0.860m)
+[05/10 21:44:58 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:44:58 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:44:58 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.093064m
+[05/10 21:44:58 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:44:58 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:44:58 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:44:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.91776501  0.79851926  0.09306394] yaw=-154.2deg
+[05/10 21:44:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:44:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:44:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:44:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.3° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:44:58 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:44:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.95180662  0.076947    0.09306394] yaw=160.7deg
+[05/10 21:44:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:44:58 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.96905711  0.74109691  0.09306394] yaw=-152.1deg
+[05/10 21:44:58 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:44:58 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:44:58 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.0ms, total=153.0ms
+[05/10 21:44:58 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.918, 0.799, 0.093)
+[05/10 21:44:58 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -154.2 deg
+[05/10 21:44:58 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.846m
+[05/10 21:44:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:44:58 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:44:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:44:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:44:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:44:58 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 2/18 collected=0/3
+[05/10 21:44:58 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.084s
+[05/10 21:44:58 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:44:58 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:44:58 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 21:44:59 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.590s, found feasible grasp: True
+[05/10 21:44:59 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.401[m] 78.115[deg]
+[05/10 21:44:59 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:44:59 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:44:59 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:45:38 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:45:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:45:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:47:33 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:47:54 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:47:54 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
+[05/10 21:47:54 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:48:07 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:48:07 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:48:07 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 12.80s (batch: 4.20s, save: 8.60s)
+[05/10 21:48:07 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 2 house 1 success=True episode_total=0.44s:
+  episode_total: mean=189.68s, total=189.68s, count=1, min=189677.6ms, max=189677.6ms
+  sensor_polling: mean=482.3ms, total=144.70s, count=300, min=448.9ms, max=648.9ms
+  save_trajectories: mean=8.60s, total=8.60s, count=1, min=8602.3ms, max=8602.3ms
+  physics_step: mean=21.6ms, total=6.49s, count=300, min=15.4ms, max=32.0ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.1ms, max=4201.1ms
+  task_sampling: mean=442.6ms, total=442.6ms, count=1, min=442.6ms, max=442.6ms
+  task_specific_sample: mean=438.9ms, total=438.9ms, count=1, min=438.9ms, max=438.9ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=417.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=23.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:48:09 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:48:09 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:48:09 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:48:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:09 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:48:09 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:48:09 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:48:09 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.034m, effective arm-mount z=0.894m (base_body_z=0.034m, pedestal_h=0.860m)
+[05/10 21:48:09 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:48:09 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:48:09 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034244m
+[05/10 21:48:09 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:48:09 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:48:09 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:48:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88634209  1.19415786  0.0342438 ] yaw=-130.6deg
+[05/10 21:48:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing 105.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86882266  0.49060402  0.0342438 ] yaw=-183.1deg
+[05/10 21:48:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 115.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:09 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 131.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:09 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.71313064  0.78462643  0.0342438 ] yaw=-171.0deg
+[05/10 21:48:09 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:48:09 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:48:09 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms
+[05/10 21:48:09 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.886, 1.194, 0.034)
+[05/10 21:48:09 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -130.6 deg
+[05/10 21:48:09 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.083m
+[05/10 21:48:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:09 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:48:10 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 3/18 collected=0/3
+[05/10 21:48:10 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.083s
+[05/10 21:48:10 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:48:10 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:48:10 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.044s, found 88 non-colliding grasps
+[05/10 21:48:13 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 3.625s, found feasible grasp: True
+[05/10 21:48:13 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 162 (originally 47): w/ 0.694[m] 150.155[deg]
+[05/10 21:48:15 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 99, in run_single_rollout
+    observation, _info = task.reset()  # don't update env after reset!
+                         ^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/tasks/task.py", line 243, in reset
+    self._registered_policy.reset()
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:48:17 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:48:17 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:48:17 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:48:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:17 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:48:17 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:48:17 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:48:17 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)
+[05/10 21:48:17 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:48:17 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:48:17 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.087990m
+[05/10 21:48:17 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:48:17 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:48:17 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:48:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.69499776  0.17550579  0.0879901 ] yaw=169.8deg
+[05/10 21:48:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:48:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:17 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:48:17 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.90088262  0.96672289  0.0879901 ] yaw=-150.9deg
+[05/10 21:48:17 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:48:17 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:48:17 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=408.2ms, total=408.3ms
+[05/10 21:48:17 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.695, 0.176, 0.088)
+[05/10 21:48:17 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 169.8 deg
+[05/10 21:48:17 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
+[05/10 21:48:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:48:17 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:48:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:48:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:48:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:48:18 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 4/18 collected=0/3
+[05/10 21:48:18 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.155s
+[05/10 21:48:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:48:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:48:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.154s, found 88 non-colliding grasps
+[05/10 21:48:21 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 2.714s, found feasible grasp: True
+[05/10 21:48:21 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.642[m] 99.184[deg]
+[05/10 21:48:21 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:48:22 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:49:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:49:50 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:49:55 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:51:17 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:51:41 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:51:41 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
+[05/10 21:51:41 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:51:56 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:51:56 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:51:56 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.16s (batch: 4.52s, save: 10.64s)
+[05/10 21:51:57 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 4 house 1 success=True episode_total=1.55s:
+  episode_total: mean=112.71s, total=225.42s, count=2, min=5704.2ms, max=219714.9ms
+  sensor_polling: mean=532.5ms, total=159.75s, count=300, min=447.9ms, max=946.3ms
+  save_trajectories: mean=10.64s, total=10.64s, count=1, min=10641.7ms, max=10641.7ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=18.2ms, max=67.5ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4516.6ms, max=4516.6ms
+  task_sampling: mean=776.7ms, total=1.55s, count=2, min=462.1ms, max=1091.2ms
+  task_specific_sample: mean=772.4ms, total=1.54s, count=2, min=458.2ms, max=1086.7ms
+  scene_randomize: mean=2.5ms, total=5.0ms, count=2, min=2.4ms, max=2.6ms
+  mj_forward_sync: mean=511.2us, total=1.0ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=24.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 21:51:59 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:51:59 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:51:59 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:51:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:51:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:51:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:51:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:51:59 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:51:59 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:51:59 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:51:59 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)
+[05/10 21:51:59 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:51:59 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:51:59 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035366m
+[05/10 21:51:59 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:51:59 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:51:59 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:51:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.93188653  0.83490741  0.0353662 ] yaw=-163.1deg
+[05/10 21:51:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:51:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:59 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:51:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93459396  0.36402371  0.0353662 ] yaw=180.7deg
+[05/10 21:51:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:51:59 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.84979214  0.93176366  0.0353662 ] yaw=-159.3deg
+[05/10 21:51:59 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:51:59 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:51:59 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=396.2ms, total=396.2ms
+[05/10 21:51:59 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.932, 0.835, 0.035)
+[05/10 21:51:59 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -163.1 deg
+[05/10 21:51:59 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.847m
+[05/10 21:51:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:51:59 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:51:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:51:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:51:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:51:59 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 5/18 collected=0/3
+[05/10 21:52:00 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.157s
+[05/10 21:52:00 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:52:00 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:52:00 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.094s, found 88 non-colliding grasps
+[05/10 21:52:01 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.311s, found feasible grasp: True
+[05/10 21:52:01 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.443[m] 91.727[deg]
+[05/10 21:52:01 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:52:02 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:52:02 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:52:50 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:53:01 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:53:06 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:54:47 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True
+[05/10 21:55:09 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:55:09 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
+[05/10 21:55:09 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 21:55:26 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 21:55:26 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 21:55:26 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 17.09s (batch: 5.57s, save: 11.52s)
+[05/10 21:55:27 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 5 house 1 success=True episode_total=0.73s:
+  episode_total: mean=208.25s, total=208.25s, count=1, min=208246.2ms, max=208246.2ms
+  sensor_polling: mean=515.9ms, total=154.77s, count=300, min=437.0ms, max=797.7ms
+  save_trajectories: mean=11.52s, total=11.52s, count=1, min=11522.5ms, max=11522.5ms
+  physics_step: mean=24.3ms, total=7.30s, count=300, min=18.0ms, max=92.3ms
+  save_batch_prep: mean=5.57s, total=5.57s, count=1, min=5570.9ms, max=5570.9ms
+  task_sampling: mean=733.1ms, total=733.1ms, count=1, min=733.1ms, max=733.1ms
+  task_specific_sample: mean=728.5ms, total=728.5ms, count=1, min=728.5ms, max=728.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=513.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=31.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 21:55:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:55:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:55:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:55:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:55:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:55:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:55:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:55:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:55:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:55:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:55:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)
+[05/10 21:55:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:55:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:55:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074261m
+[05/10 21:55:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:55:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:55:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.99003319  0.15016147  0.07426136] yaw=163.1deg
+[05/10 21:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86637152  0.33454528  0.07426136] yaw=179.9deg
+[05/10 21:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:55:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.74804582  0.59796571  0.07426136] yaw=-175.6deg
+[05/10 21:55:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:55:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:55:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.1ms, total=112.2ms
+[05/10 21:55:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.990, 0.150, 0.074)
+[05/10 21:55:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 163.1 deg
+[05/10 21:55:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.786m
+[05/10 21:55:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:55:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:55:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:55:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:55:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:55:29 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 6/18 collected=0/3
+[05/10 21:55:29 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.101s
+[05/10 21:55:29 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:55:29 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:55:29 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.054s, found 88 non-colliding grasps
+[05/10 21:55:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.529s, found feasible grasp: True
+[05/10 21:55:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 9 (originally 9): w/ 0.350[m] 83.647[deg]
+[05/10 21:55:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:55:30 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:56:08 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:56:19 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:56:26 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:57:06 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:57:08 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:57:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:57:11 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:57:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:57:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:57:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:57:18 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 21:57:18 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:57:18 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:57:18 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.074s, found 80 non-colliding grasps
+[05/10 21:57:18 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 80 grasps in 0.419s, found feasible grasp: True
+[05/10 21:57:18 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.350[deg]
+[05/10 21:57:20 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:57:20 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:57:20 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:57:22 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:57:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:57:25 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:57:27 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:57:29 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:57:31 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:57:33 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:57:36 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:57:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:57:52 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 21:58:04 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 21:58:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 21:58:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 21:58:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 21:58:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 21:58:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 21:58:15 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 21:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 21:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 21:58:17 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 2/3
+[05/10 21:58:17 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:58:17 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:58:17 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.055s, found 76 non-colliding grasps
+[05/10 21:58:19 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.600s, found feasible grasp: True
+[05/10 21:58:19 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 75 (originally 75): w/ 0.029[m] 3.850[deg]
+[05/10 21:58:20 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 21:58:22 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 21:58:22 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 21:58:22 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 21:58:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:58:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:58:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:58:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:58:22 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 21:58:22 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 21:58:22 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 21:58:22 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)
+[05/10 21:58:22 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 21:58:22 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 21:58:22 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039761m
+[05/10 21:58:22 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 21:58:22 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 21:58:22 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 21:58:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6706696   0.27095008  0.03976099] yaw=157.3deg
+[05/10 21:58:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 21:58:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:22 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 114.1° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 21:58:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76062706  0.34917922  0.03976099] yaw=167.1deg
+[05/10 21:58:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 21:58:22 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.60850849  0.40887708  0.03976099] yaw=175.7deg
+[05/10 21:58:22 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 21:58:22 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 21:58:22 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.0ms, total=114.0ms
+[05/10 21:58:22 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.671, 0.271, 0.040)
+[05/10 21:58:22 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 157.3 deg
+[05/10 21:58:22 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 1.053m
+[05/10 21:58:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 21:58:22 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 21:58:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 21:58:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 21:58:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 21:58:22 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 7/18 collected=0/3
+[05/10 21:58:22 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.069s
+[05/10 21:58:22 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 21:58:22 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 21:58:22 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps
+[05/10 21:58:23 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.619s, found feasible grasp: True
+[05/10 21:58:23 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.589[m] 86.067[deg]
+[05/10 21:58:23 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 21:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 21:58:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 21:59:29 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 21:59:47 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 21:59:53 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:01:23 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:01:49 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:01:49 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
+[05/10 22:01:49 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:02:05 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:02:05 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:02:05 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 15.68s (batch: 5.39s, save: 10.29s)
+[05/10 22:02:05 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 7 house 1 success=True episode_total=0.88s:
+  episode_total: mean=197.53s, total=395.06s, count=2, min=171566.7ms, max=223491.7ms
+  sensor_polling: mean=528.0ms, total=279.85s, count=530, min=432.0ms, max=994.2ms
+  physics_step: mean=26.1ms, total=13.84s, count=530, min=14.6ms, max=89.6ms
+  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10290.5ms, max=10290.5ms
+  save_batch_prep: mean=5.39s, total=5.39s, count=1, min=5394.0ms, max=5394.0ms
+  task_sampling: mean=442.4ms, total=884.8ms, count=2, min=397.5ms, max=487.3ms
+  task_specific_sample: mean=438.9ms, total=877.8ms, count=2, min=394.1ms, max=483.7ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms
+  mj_forward_sync: mean=409.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.2us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+[05/10 22:02:07 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:02:07 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:02:07 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:02:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:02:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:02:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:02:07 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:02:07 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:02:07 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:02:07 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.016m, effective arm-mount z=0.876m (base_body_z=0.016m, pedestal_h=0.860m)
+[05/10 22:02:07 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:02:07 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:02:07 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.016281m
+[05/10 22:02:07 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:02:07 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:02:07 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:02:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88048043  0.44562741  0.0162809 ] yaw=171.9deg
+[05/10 22:02:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:02:07 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:02:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.95309746  0.3913453   0.0162809 ] yaw=167.6deg
+[05/10 22:02:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:02:07 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11030604  1.19160689  0.0162809 ] yaw=-133.0deg
+[05/10 22:02:07 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:02:07 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:02:07 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=106.1ms, total=106.2ms
+[05/10 22:02:07 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.880, 0.446, 0.016)
+[05/10 22:02:07 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 171.9 deg
+[05/10 22:02:07 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.823m
+[05/10 22:02:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:02:07 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:02:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:02:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:02:07 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 8/18 collected=0/3
+[05/10 22:02:08 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.091s
+[05/10 22:02:08 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:02:08 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:02:08 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 22:02:08 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.495s, found feasible grasp: True
+[05/10 22:02:08 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 56 (originally 56): w/ 0.414[m] 98.442[deg]
+[05/10 22:02:08 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:02:09 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:02:57 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:03:09 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:03:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:04:57 Worker 0 INFO pipeline.py:1108] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True
+[05/10 22:05:25 Worker 0 INFO pipeline.py:1174] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:05:25 Worker 0 INFO pipeline.py:238] Batching and saving trajectory data for chunk_009 batch 4/4: 1 episodes
+[05/10 22:05:25 Worker 0 INFO save_utils.py:278] Preparing episode data: 301 timesteps
+[05/10 22:05:42 Worker 0 WARNING save_utils.py:741] No terminated recorded, assuming episode ended
+[05/10 22:05:42 Worker 0 INFO save_utils.py:785] Saved 1 episodes to: /scr/ravenh/fridge_7/sim_chunks/chunk_009
+[05/10 22:05:42 Worker 0 INFO pipeline.py:300] Successfully saved trajectory data for chunk_009 in 16.45s (batch: 4.64s, save: 11.82s)
+[05/10 22:05:42 Worker 0 INFO profiler_utils.py:380] [PROFILE] Episode 8 house 1 success=True episode_total=0.40s:
+  episode_total: mean=215.30s, total=215.30s, count=1, min=215297.8ms, max=215297.8ms
+  sensor_polling: mean=523.6ms, total=157.07s, count=300, min=454.2ms, max=937.9ms
+  save_trajectories: mean=11.82s, total=11.82s, count=1, min=11818.2ms, max=11818.2ms
+  physics_step: mean=26.2ms, total=7.85s, count=300, min=15.6ms, max=72.5ms
+  save_batch_prep: mean=4.64s, total=4.64s, count=1, min=4635.5ms, max=4635.5ms
+  task_sampling: mean=396.1ms, total=396.1ms, count=1, min=396.1ms, max=396.1ms
+  task_specific_sample: mean=391.5ms, total=391.5ms, count=1, min=391.5ms, max=391.5ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=503.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+[05/10 22:05:44 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:05:44 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:05:44 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:05:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:05:44 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:05:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:05:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:05:44 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:05:44 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:05:44 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:05:44 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.042m, effective arm-mount z=0.902m (base_body_z=0.042m, pedestal_h=0.860m)
+[05/10 22:05:44 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:05:44 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:05:44 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.041763m
+[05/10 22:05:44 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:05:44 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:05:45 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:05:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 116.6° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:05:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.08497557  1.0877005   0.04176253] yaw=-134.0deg
+[05/10 22:05:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:05:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.94964042  0.88900527  0.04176253] yaw=-149.0deg
+[05/10 22:05:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:05:45 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:05:45 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.10458435  1.10373391  0.04176253] yaw=-140.6deg
+[05/10 22:05:45 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:05:45 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:05:45 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=193.3ms, total=193.4ms
+[05/10 22:05:45 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.085, 1.088, 0.042)
+[05/10 22:05:45 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -134.0 deg
+[05/10 22:05:45 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.865m
+[05/10 22:05:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:05:45 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:05:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:05:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:05:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:05:45 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 9/18 collected=0/3
+[05/10 22:05:45 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.138s
+[05/10 22:05:45 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:05:45 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:05:45 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps
+[05/10 22:05:47 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 1.494s, found feasible grasp: True
+[05/10 22:05:47 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.413[m] 84.693[deg]
+[05/10 22:05:47 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:05:47 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:05:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:06:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:06:42 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:06:47 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:08:07 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:08:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:08:10 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:08:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:08:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:08:16 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:08:19 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:08:23 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 22:08:23 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:08:23 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:08:23 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.080s, found 76 non-colliding grasps
+[05/10 22:08:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 3.423s, found feasible grasp: True
+[05/10 22:08:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.241[deg]
+[05/10 22:08:29 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 415, in get_action
+    action = act_prim.get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 22:08:30 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:08:30 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:08:30 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:08:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:08:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:08:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:08:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:08:30 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:08:30 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:08:30 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:08:30 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.048m, effective arm-mount z=0.908m (base_body_z=0.048m, pedestal_h=0.860m)
+[05/10 22:08:30 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:08:30 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:08:30 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.047933m
+[05/10 22:08:30 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:08:30 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:08:30 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.07651475  0.96683729  0.04793261] yaw=-143.9deg
+[05/10 22:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:08:31 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95235692  0.27148443  0.04793261] yaw=167.1deg
+[05/10 22:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #2
+[05/10 22:08:31 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.72649085  0.86898473  0.04793261] yaw=-162.9deg
+[05/10 22:08:31 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #3
+[05/10 22:08:31 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:08:31 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=305.6ms, total=305.6ms
+[05/10 22:08:31 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-1.077, 0.967, 0.048)
+[05/10 22:08:31 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg
+[05/10 22:08:31 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.792m
+[05/10 22:08:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:08:31 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:08:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:08:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:08:31 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 10/18 collected=0/3
+[05/10 22:08:31 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.064s
+[05/10 22:08:31 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:08:31 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:08:31 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.043s, found 88 non-colliding grasps
+[05/10 22:08:32 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.533s, found feasible grasp: True
+[05/10 22:08:32 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.377[m] 89.338[deg]
+[05/10 22:08:32 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:08:32 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:09:13 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:09:23 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:09:27 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift
+[05/10 22:11:09 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:1
+[05/10 22:11:12 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:2
+[05/10 22:11:14 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:3
+[05/10 22:11:17 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:4
+[05/10 22:11:18 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:5
+[05/10 22:11:21 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:6
+[05/10 22:11:23 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:7
+[05/10 22:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:494] ⚠️ IK failed, holding current position, fails:8
+[05/10 22:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:496] ❌ Too many sequential IK failures, triggering retry.
+[05/10 22:11:24 Worker 0 INFO base_object_manipulation_planner_policy.py:466] 🔄 Failure detected! Initiating retry 1/3
+[05/10 22:11:24 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:11:24 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:11:24 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.051s, found 76 non-colliding grasps
+[05/10 22:11:26 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 76 grasps in 1.722s, found feasible grasp: True
+[05/10 22:11:26 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.300[deg]
+[05/10 22:11:27 Worker 0 ERROR pipeline.py:1242] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose
+Traceback (most recent call last):
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/data_generation/pipeline.py", line 1089, in process_single_house
+    success = runner_class.run_single_rollout(
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/scripts/datagen/run_pipeline.py", line 141, in run_single_rollout
+    action_cmd = policy.get_action(observation)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 417, in get_action
+    action = self.action_primitives[-1].get_current_action()
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 217, in get_current_action
+    return self.tcp_to_jp_fn(mg_id, curr_target_pose)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 497, in _tcp_to_jp_fn
+    return self._handle_failure()
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 469, in _handle_failure
+    self.reset(reset_retries=False)
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/base_object_manipulation_planner_policy.py", line 379, in reset
+    self.action_primitives = self._compute_trajectory()
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 27, in _compute_trajectory
+    target_poses = self._compute_target_poses()
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/svl/u/ravenh/renderscale/molmospaces/molmo_spaces/policy/solvers/object_manipulation/open_close_planner_policy.py", line 117, in _compute_target_poses
+    raise ValueError("IK failed for pregrasp pose")
+ValueError: IK failed for pregrasp pose
+[05/10 22:11:29 Worker 0 INFO task_sampler.py:1086] [HOUSE] Reusing loaded scene for house index 1
+[05/10 22:11:29 Worker 0 INFO pick_task_sampler.py:260] Scene setup completed.
+
+[05/10 22:11:29 Worker 0 INFO opening_task_samplers.py:63] Found 1 articulable objects in the scene for opening task sampling
+[05/10 22:11:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:11:29 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:11:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:11:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:11:29 Worker 0 WARNING object_manager.py:1078] No image features for Fridge_7_upside_down, ignoring.
+[05/10 22:11:29 Worker 0 INFO opening_task_samplers.py:178] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']
+[05/10 22:11:29 Worker 0 INFO opening_task_samplers.py:187] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1
+[05/10 22:11:29 Worker 0 INFO opening_task_samplers.py:256] [ROBOT BASE Z] sampled delta=0.010m, effective arm-mount z=0.870m (base_body_z=0.010m, pedestal_h=0.860m)
+[05/10 22:11:29 Worker 0 DEBUG env.py:836] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)
+[05/10 22:11:29 Worker 0 DEBUG env.py:845] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)
+[05/10 22:11:29 Worker 0 DEBUG env.py:870] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.009676m
+[05/10 22:11:29 Worker 0 DEBUG env.py:871] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m
+[05/10 22:11:29 Worker 0 DEBUG env.py:777] [HEIGHT_AWARE_THORMAP] Using cached map
+[05/10 22:11:29 Worker 0 DEBUG env.py:907] [PLACE_ROBOT_NEAR] Found 12761 free points within sampling radius
+[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.2° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.8° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.4° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 4: bearing 156.7° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:11:29 Worker 0 DEBUG env.py:969] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...
+[05/10 22:11:29 Worker 0 DEBUG env.py:1019] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.8434122   0.42000288  0.00967631] yaw=186.8deg
+[05/10 22:11:29 Worker 0 DEBUG env.py:1029] [PLACE_ROBOT_NEAR] Found collision-free pose #1
+[05/10 22:11:29 Worker 0 DEBUG env.py:1068] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}
+[05/10 22:11:29 Worker 0 INFO env.py:1075] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=400.7ms, total=400.7ms
+[05/10 22:11:29 Worker 0 DEBUG env.py:1079] [PLACE_ROBOT_NEAR] Final position: (-0.843, 0.420, 0.010)
+[05/10 22:11:29 Worker 0 DEBUG env.py:1082] [PLACE_ROBOT_NEAR] Final orientation: 186.8 deg
+[05/10 22:11:29 Worker 0 DEBUG env.py:1086] [PLACE_ROBOT_NEAR] Distance to target: 0.861m
+[05/10 22:11:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras
+[05/10 22:11:30 Worker 0 INFO camera_manager.py:438] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)
+[05/10 22:11:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'
+[05/10 22:11:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras
+[05/10 22:11:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Open the fridge'
+[05/10 22:11:30 Worker 0 INFO pipeline.py:1044] Worker 0 house 1 episode 11/18 collected=0/3
+[05/10 22:11:30 Worker 0 INFO base_object_manipulation_planner_policy.py:377] Warmed up parallel IK solver in 0.056s
+[05/10 22:11:30 Worker 0 INFO grasp_sample.py:179] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_7_upside_down/Fridge_7_upside_down_Mesh_57e9bd7c__1_grasps_filtered.npz
+[05/10 22:11:30 Worker 0 INFO grasp_sample.py:388] Loaded 230 total grasp poses (including flipped versions)
+[05/10 22:11:30 Worker 0 INFO grasp_sample.py:465] Collision-checked 230 grasps in 0.046s, found 88 non-colliding grasps
+[05/10 22:11:30 Worker 0 INFO grasp_sample.py:500] Feasibility-checked 88 grasps in 0.524s, found feasible grasp: True
+[05/10 22:11:30 Worker 0 INFO grasp_sample.py:539] Feasible grasp found 161 (originally 46): w/ 0.454[m] 95.338[deg]
+[05/10 22:11:30 Worker 0 INFO open_close_planner_policy.py:225] Planning completed. w/ 3 steps
+
+[05/10 22:11:31 Worker 0 INFO base_object_manipulation_planner_policy.py:299] Opening gripper...
+[05/10 22:11:31 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to pregrasp
+[05/10 22:12:24 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to grasp
+[05/10 22:12:34 Worker 0 INFO base_object_manipulation_planner_policy.py:301] Closing gripper...
+[05/10 22:12:39 Worker 0 INFO base_object_manipulation_planner_policy.py:112] Moving to lift